From 571fb5c99d2323fed344b332f687597cd53d4d31 Mon Sep 17 00:00:00 2001
From: Cindy Zhang <cindyzyx9@gmail.com>
Date: Tue, 31 Jan 2017 20:06:09 -0800
Subject: [PATCH] fix bugs for TurnForAngle and tune constants

---
 .../robot/commands/driving/TurnForAngle.java       | 14 ++++++++------
 .../frc/team3501/robot/subsystems/DriveTrain.java  |  8 ++++----
 .../frc/team3501/robot/utils/PIDController.java    |  1 -
 3 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
index 86176f1..f9f5c7f 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
@@ -28,11 +28,14 @@ public class TurnForAngle extends Command {
   private double gyroI;
   private double gyroD;
 
+  private double zeroAngle;
+
   public TurnForAngle(double angle, Direction direction, double maxTimeOut) {
     requires(Robot.getDriveTrain());
     this.direction = direction;
     this.maxTimeOut = maxTimeOut;
-    this.target = angle;
+    this.target = Math.abs(angle);
+    this.zeroAngle = driveTrain.getAngle();
 
     this.gyroP = driveTrain.defaultGyroP;
     this.gyroI = driveTrain.defaultGyroI;
@@ -46,7 +49,6 @@ public class TurnForAngle extends Command {
   @Override
   protected void initialize() {
     this.driveTrain.resetEncoders();
-    this.driveTrain.resetGyro();
     this.gyroController.setSetPoint(this.target);
   }
 
@@ -55,14 +57,14 @@ public class TurnForAngle extends Command {
     double xVal = 0;
 
     xVal = this.gyroController
-        .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle());
+        .calcPID(Math.abs(this.driveTrain.getAngle() - this.zeroAngle));
 
-    double leftDrive;
-    double rightDrive;
+    double leftDrive = 0;
+    double rightDrive = 0;
     if (direction == Constants.Direction.RIGHT) {
       leftDrive = xVal;
       rightDrive = -xVal;
-    } else {
+    } else if (direction == Constants.Direction.LEFT) {
       leftDrive = -xVal;
       rightDrive = xVal;
     }
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index eb9a442..1ba8c8c 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -11,9 +11,9 @@ import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-  public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
-  public static double defaultGyroP = 0.006, defaultGyroI = 0.00000,
-      defaultGyroD = -0.000;
+  public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
+  public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
+      defaultGyroD = -0.005;
   private double gyroZero = 0;
 
   public static final double WHEEL_DIAMETER = 6; // inches
@@ -125,7 +125,7 @@ public class DriveTrain extends Subsystem {
   }
 
   public void resetGyro() {
-    this.gyroZero = this.getAngle();
+    this.imu.reset();
   }
 
   public double getZeroAngle() {
diff --git a/src/org/usfirst/frc/team3501/robot/utils/PIDController.java b/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
index b8ec465..c6ab0fb 100644
--- a/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
+++ b/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
@@ -161,7 +161,6 @@ public class PIDController {
     // close enough to target
     if (currError <= this.doneRange) {
       this.doneCycleCount++;
-      System.out.println(doneCycleCount);
     }
     // not close enough to target
     else {
-- 
2.30.2