From c726d04ade36dead56cd4b2f1b91a341ce90bdb6 Mon Sep 17 00:00:00 2001
From: AyushNigade <techiedude23@gmail.com>
Date: Sat, 11 Feb 2017 14:37:06 -0800
Subject: [PATCH] tweak auton middle gear command group

---
 .../frc/team3501/robot/commandgroups/AutonMiddleGear.java   | 6 ++++--
 .../frc/team3501/robot/commands/driving/DriveDistance.java  | 4 ++--
 .../frc/team3501/robot/commands/driving/TurnForAngle.java   | 2 +-
 .../usfirst/frc/team3501/robot/subsystems/DriveTrain.java   | 2 +-
 4 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java
index bd718b3..913bbd7 100644
--- a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java
@@ -6,6 +6,7 @@ import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
 import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
 
 /**
  *
@@ -18,8 +19,8 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  * again to cross the baseline.
  */
 public class AutonMiddleGear extends CommandGroup {
-  private static final double DISTANCE_TO_PEG = 91.3;
-  private static final double DISTANCE_TO_BACK_OUT = 29.75;
+  private static final double DISTANCE_TO_PEG = 91.3 - 32;
+  private static final double DISTANCE_TO_BACK_OUT = -29.75;
   private static final double THIRD_DISTANCE_TO_TRAVEL = 70;
   private static final double DISTANCE_TO_BASELINE = 50.5;
 
@@ -37,6 +38,7 @@ public class AutonMiddleGear extends CommandGroup {
    */
   public AutonMiddleGear(Direction direction) {
     addSequential(new DriveDistance(DISTANCE_TO_PEG, maxTimeOut));
+    addSequential(new WaitCommand(3));
     addSequential(new DriveDistance(DISTANCE_TO_BACK_OUT, maxTimeOut));
     addSequential(new TurnForAngle(ANGLE_TO_TURN, direction, maxTimeOut));
     addSequential(new DriveDistance(THIRD_DISTANCE_TO_TRAVEL, maxTimeOut));
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 bdd5a69..582cd80 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
@@ -31,14 +31,13 @@ public class DriveDistance extends Command {
     requires(driveTrain);
     this.maxTimeOut = maxTimeOut;
     this.target = distance;
-    this.zeroAngle = driveTrain.getAngle();
 
     this.driveP = driveTrain.driveP;
     this.driveI = driveTrain.driveI;
     this.driveD = driveTrain.driveD;
     this.gyroP = driveTrain.driveStraightGyroP;
     this.driveController = new PIDController(driveP, driveI, driveD);
-    this.driveController.setDoneRange(0.5);
+    this.driveController.setDoneRange(1.0);
     this.driveController.setMaxOutput(1.0);
     this.driveController.setMinDoneCycles(5);
   }
@@ -47,6 +46,7 @@ public class DriveDistance extends Command {
   protected void initialize() {
     this.driveTrain.resetEncoders();
     this.driveController.setSetPoint(this.target);
+    this.zeroAngle = driveTrain.getAngle();
   }
 
   @Override
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 867f5ed..717f151 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
@@ -35,7 +35,6 @@ public class TurnForAngle extends Command {
     this.direction = direction;
     this.maxTimeOut = maxTimeOut;
     this.target = Math.abs(angle);
-    this.zeroAngle = driveTrain.getAngle();
 
     this.gyroP = driveTrain.turnP;
     this.gyroI = driveTrain.turnI;
@@ -50,6 +49,7 @@ public class TurnForAngle extends Command {
   protected void initialize() {
     this.driveTrain.resetEncoders();
     this.gyroController.setSetPoint(this.target);
+    this.zeroAngle = driveTrain.getAngle();
   }
 
   @Override
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 1ffb14d..3f76a86 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-  public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
+  public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
   public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
   public static double driveStraightGyroP = 0.01;
 
-- 
2.30.2