From f9b52969b365e9c16b1247dbf7ddeb2f61737f5d Mon Sep 17 00:00:00 2001 From: EvanYap Date: Sat, 4 Feb 2017 16:28:40 -0800 Subject: [PATCH] save in case my comp crashes --- .../usfirst/frc/team3501/robot/Constants.java | 1 - src/org/usfirst/frc/team3501/robot/Robot.java | 28 ++++++++++++++++++- 2 files changed, 27 insertions(+), 2 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index 3e6f491..48a2a9c 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -57,7 +57,6 @@ public class Constants { public static final int ENCODER_RIGHT_B = 3; // PID TUNING - public static final String DRIVE_P_Val = "DriveP"; public static final String DRIVE_I_Val = "DriveI"; public static final String DRIVE_D_Val = "DriveD"; diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index ca60af7..49a2fdf 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -16,7 +16,7 @@ public class Robot extends IterativeRobot { @Override public void robotInit() { - driveTrain = driveTrain; + driveTrain = DriveTrain.getDriveTrain(); oi = OI.getOI(); shooter = Shooter.getShooter(); intake = Intake.getIntake(); @@ -60,6 +60,32 @@ public class Robot extends IterativeRobot { SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0); SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0); SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0); + + 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); + + double Setpoint = SmartDashboard.getNumber( + Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR); + double Speed = SmartDashboard.getNumber( + Constants.DriveTrain.DRIVE_MOTOR_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); } @Override -- 2.30.2