From af4491f7041a4659d6624d5e8b5cb4ae233d1a2b Mon Sep 17 00:00:00 2001
From: Arunima DIvya <adivya822@student.fuhsd.org>
Date: Fri, 27 Jan 2017 20:53:49 -0800
Subject: [PATCH] Create constants for gear piston in drivetrain

---
 .../robot/commands/driving/SetGear.java       | 45 -------------------
 .../team3501/robot/subsystems/DriveTrain.java | 28 ++++++------
 2 files changed, 13 insertions(+), 60 deletions(-)
 delete mode 100644 src/org/usfirst/frc/team3501/robot/commands/driving/SetGear.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/SetGear.java b/src/org/usfirst/frc/team3501/robot/commands/driving/SetGear.java
deleted file mode 100644
index 711242f..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/SetGear.java
+++ /dev/null
@@ -1,45 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands.driving;
-
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-/***
- * Sets the gear.
- * 
- * @author Arunima
- *
- */
-public class SetGear extends Command {
-
-  public SetGear() {
-    requires(Robot.getDriveTrain());
-  }
-
-  // Called just before this Command runs the first time
-  @Override
-  protected void initialize() {
-  }
-
-  // Called repeatedly when this Command is scheduled to run
-  @Override
-  protected void execute() {
-  }
-
-  // Make this return true when this Command no longer needs to run execute()
-  @Override
-  protected boolean isFinished() {
-    return false;
-  }
-
-  // Called once after isFinished returns true
-  @Override
-  protected void end() {
-  }
-
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  @Override
-  protected void interrupted() {
-  }
-}
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index f691672..ef40903 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -67,6 +67,7 @@ public class DriveTrain extends Subsystem {
     this.imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
         BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
     gyroZero = imu.getHeading();
+
   }
 
   public static DriveTrain getDriveTrain() {
@@ -147,10 +148,22 @@ public class DriveTrain extends Subsystem {
 
   public void resetGyro() {
     this.imu.reset();
+
+  public double getAngle() {
+    if (!this.imu.isInitialized())
+      return -1;
+    return this.imu.getHeading() - this.gyroZero;
+  }
+
+  public void resetGyro() {
+    this.gyroZero = this.getAngle();
+
   }
 
   public double getZeroAngle() {
     return this.gyroZero;
+  }
+
   /*
    * @return a value that is the current setpoint for the piston kReverse or
    * KForward
@@ -189,21 +202,6 @@ public class DriveTrain extends Subsystem {
     rightGearPiston.set(gear);
   }
 
-  public double getAngle() {
-    if (!this.imu.isInitialized())
-      return -1;
-    return this.imu.getHeading() - this.gyroZero;
-  }
-
-  public void resetGyro() {
-    this.gyroZero = this.getAngle();
-
-  }
-
-  public double getZeroAngle() {
-    return this.gyroZero;
-  }
-
   @Override
   protected void initDefaultCommand() {
     setDefaultCommand(new JoystickDrive());
-- 
2.30.2