From 34ffcd034fe64fc3878c59be1d99614045bc3a7a Mon Sep 17 00:00:00 2001 From: Eric Sandoval Date: Sat, 4 Feb 2017 13:41:04 -0800 Subject: [PATCH] update code --- src/org/usfirst/frc/team3501/robot/Robot.java | 3 +++ src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java | 3 ++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index 072b5bd..da4d820 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -6,6 +6,7 @@ import org.usfirst.frc.team3501.robot.subsystems.Shooter; import edu.wpi.first.wpilibj.IterativeRobot; import edu.wpi.first.wpilibj.command.Scheduler; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; public class Robot extends IterativeRobot { private static DriveTrain driveTrain; @@ -42,11 +43,13 @@ public class Robot extends IterativeRobot { @Override public void autonomousInit() { driveTrain.setHighGear(); + SmartDashboard.putNumber("I", -1); } @Override public void autonomousPeriodic() { Scheduler.getInstance().run(); + DriveTrain.getDriveTrain().getDriveController().setConstants( } diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java index 2adcc8a..83f48d5 100644 --- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java @@ -14,7 +14,8 @@ import edu.wpi.first.wpilibj.RobotDrive; import edu.wpi.first.wpilibj.command.Subsystem; public class DriveTrain extends Subsystem { - public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002; + + public static double driveP, driveI, driveD; public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005; public static double driveStraightGyroP = 0.01; -- 2.30.2