From 7a65d2ce9517627ea6a114048158874d56b2b467 Mon Sep 17 00:00:00 2001 From: Eric Sandoval Date: Sat, 4 Feb 2017 15:06:06 -0800 Subject: [PATCH] update code --- .../usfirst/frc/team3501/robot/Constants.java | 1 - src/org/usfirst/frc/team3501/robot/Robot.java | 56 +++++++++++-------- 2 files changed, 33 insertions(+), 24 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index ac54f3a..3e6f491 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -77,7 +77,6 @@ public class Constants { public static final String MOTOR_VAL = "SPEED"; public static final SPI.Port GYRO_PORT = SPI.Port.kOnboardCS0; - } public static class Intake { diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index 2bdf124..deffbc6 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -50,33 +50,43 @@ public class Robot extends IterativeRobot { SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50); SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5); +<<<<<<< HEAD SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0); SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0); SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0); +======= + SmartDashboard.putNumber(Constants.DriveTrain.P_Val, 0); + SmartDashboard.putNumber(Constants.DriveTrain.I_Val, 0); + SmartDashboard.putNumber(Constants.DriveTrain.D_Val, 0); + SmartDashboard.putNumber(Constants.DriveTrain.TARGET_DIST, 50); + SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5); + + }>>>>>>> + + update code + + double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, + Constants.DriveTrain.PID_ERROR); + double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val, + Constants.DriveTrain.PID_ERROR); + double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, + Constants.DriveTrain.PID_ERROR); + + double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val, + Constants.DriveTrain.PID_ERROR); + double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val, + Constants.DriveTrain.PID_ERROR); + double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val, + Constants.DriveTrain.PID_ERROR); + + double Setpoint = SmartDashboard.getNumber( + Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR); + double Speed = SmartDashboard.getNumber( + Constants.DriveTrain.DRIVE_MOTOR_VAL, Constants.DriveTrain.PID_ERROR); + + driveTrain.getDriveController().setName("Drive");driveTrain.getGyroController().setName("Gyro"); - double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, - Constants.DriveTrain.PID_ERROR); - double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val, - Constants.DriveTrain.PID_ERROR); - double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, - Constants.DriveTrain.PID_ERROR); - - double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val, - Constants.DriveTrain.PID_ERROR); - double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val, - Constants.DriveTrain.PID_ERROR); - double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val, - Constants.DriveTrain.PID_ERROR); - - double Setpoint = SmartDashboard.getNumber( - Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR); - double Speed = SmartDashboard.getNumber( - Constants.DriveTrain.DRIVE_MOTOR_VAL, Constants.DriveTrain.PID_ERROR); - - driveTrain.getDriveController().setName("Drive"); - driveTrain.getGyroController().setName("Gyro"); - - driveTrain.getDriveController().setConstants(driveP, driveI, driveD); + driveTrain.getDriveController().setConstants(driveP,driveI,driveD); } @Override -- 2.30.2