From f213251be9191e13e031b754c311a6c9d935276f 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 | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index e0f075b..5e5ed04 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -1,5 +1,6 @@ package org.usfirst.frc.team3501.robot; +import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; import org.usfirst.frc.team3501.robot.subsystems.Intake; import org.usfirst.frc.team3501.robot.subsystems.Shooter; @@ -47,6 +48,7 @@ public class Robot extends IterativeRobot { SmartDashboard.putNumber(Constants.DriveTrain.P_Val, -1); SmartDashboard.putNumber(Constants.DriveTrain.I_Val, -1); SmartDashboard.putNumber(Constants.DriveTrain.D_Val, -1); + SmartDashboard.putNumber(Constants.DriveTrain.TARGET_DIST, 50); } @@ -57,7 +59,13 @@ public class Robot extends IterativeRobot { double P = SmartDashboard.getNumber(Constants.DriveTrain.P_Val, -1); double I = SmartDashboard.getNumber(Constants.DriveTrain.I_Val, -1); double D = SmartDashboard.getNumber(Constants.DriveTrain.D_Val, -1); + + double SETPOINT = SmartDashboard.getNumber(Constants.DriveTrain.TARGET_DIST, + -1); + DriveTrain.getDriveTrain().getDriveController().setConstants(P, I, D); + + new DriveDistance(SETPOINT, 0.5).start(); } @Override -- 2.30.2