From c592d4141eb7c8fc42e40d01aa137f2f9ec5c854 Mon Sep 17 00:00:00 2001 From: EvanYap Date: Sat, 4 Feb 2017 13:33:06 -0800 Subject: [PATCH] input correct constructor --- .../frc/team3501/robot/commands/driving/DriveDistance.java | 5 ++++- .../usfirst/frc/team3501/robot/subsystems/DriveTrain.java | 1 - 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java index 278540d..d78ab4b 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java +++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java @@ -29,7 +29,10 @@ public class DriveDistance extends Command { this.maxTimeOut = maxTimeOut; this.target = distance; - this.gyroP = driveTrain.getGyroController().getP(); + this.driveP = driveTrain.driveP; + this.driveI = driveTrain.driveI; + this.driveD = driveTrain.driveD; + this.gyroP = driveTrain.driveStraightGyroP; this.driveController = driveTrain.getDriveController(); this.driveController.setDoneRange(0.5); diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java index 725dd35..847419a 100644 --- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java @@ -47,7 +47,6 @@ public class DriveTrain extends Subsystem { private DriveTrain() { driveController = new PIDController(driveP, driveI, driveD); - gyroController = new PIDController(turnP, turnI, turnD); // MOTOR CONTROLLERS -- 2.30.2