From 90b435ced654236fa5b553809969104b1b2f62f5 Mon Sep 17 00:00:00 2001
From: Eric Sandoval <harpnart@gmail.com>
Date: Sat, 4 Feb 2017 15:17:24 -0800
Subject: [PATCH] add seperate pid controllers

---
 src/org/usfirst/frc/team3501/robot/Robot.java | 21 ++++++++++---------
 .../robot/commands/driving/TurnForAngle.java  |  2 +-
 .../team3501/robot/subsystems/DriveTrain.java |  4 ++++
 3 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index eadb9aa..c24279b 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -56,23 +56,24 @@ public class Robot extends IterativeRobot {
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
 
-    double DriveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
+    double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
         Constants.DriveTrain.PID_ERROR);
-    double DriveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
+    double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
         Constants.DriveTrain.PID_ERROR);
-    double DriveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
+    double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
         Constants.DriveTrain.PID_ERROR);
-
-    double GyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
+    double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
         Constants.DriveTrain.PID_ERROR);
-    double GyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
+    double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
         Constants.DriveTrain.PID_ERROR);
-    double GyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
-
+    double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
         Constants.DriveTrain.PID_ERROR);
 
-    DriveTrain.getDriveTrain().getDriveController().setConstants(DriveP, DriveI,
-        DriveD);
+    DriveTrain.getDriveTrain().getDriveController().setConstants(driveP, driveI,
+        driveD);
+
+    DriveTrain.getDriveTrain().getGyroController().setConstants(driveP, driveI,
+        driveD);
 
     // new DriveDistance(SETPOINT, SPEED).start();
   }
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 7e07577..5d85471 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
@@ -40,7 +40,7 @@ public class TurnForAngle extends Command {
     this.gyroI = driveTrain.turnI;
     this.gyroD = driveTrain.turnD;
 
-    this.gyroController = Robot.getDriveTrain().getDriveController();
+    this.gyroController = Robot.getDriveTrain().getGyroController();
     this.gyroController.setDoneRange(1);
     this.gyroController.setMinDoneCycles(5);
   }
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 5a4d4b7..f967217 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -79,6 +79,10 @@ public class DriveTrain extends Subsystem {
     return this.driveController;
   }
 
+  public PIDController getGyroController() {
+    return this.gyroController;
+  }
+
   public static DriveTrain getDriveTrain() {
     if (driveTrain == null) {
       driveTrain = new DriveTrain();
-- 
2.30.2