From d3ade5124195e71edb2b1823d0c4c03d3019dee2 Mon Sep 17 00:00:00 2001 From: EvanYap Date: Sat, 4 Feb 2017 13:57:50 -0800 Subject: [PATCH] Make SETPOINT variable get SmartDashboard's target dist option and pass that into DriveDistance cmd --- src/org/usfirst/frc/team3501/robot/Robot.java | 26 ------------------- 1 file changed, 26 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index 14e655a..bff0bb4 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -84,32 +84,6 @@ public class Robot extends IterativeRobot { public void autonomousPeriodic() { Scheduler.getInstance().run(); - DriveTrain.getDriveTrain().getDriveController().setConstants(p, i, d); - - 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); - - driveTrain.getDriveController().setName("Drive"); - driveTrain.getGyroController().setName("Gyro"); - - driveTrain.getDriveController().setConstants(driveP, driveI, driveD); - - driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD); - - // new DriveDistance(SETPOINT, SPEED).start(); - - // new TurnForAngle(0, Direction.FORWARD, 5).start(); } @Override -- 2.30.2