add method to calculate angle to turn after passing through defense to shoot

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / DriveTrain.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index de2626bed86e43a5e5fdddde5eca8ab2374f471b..0d1db15b930268ccea2a86b65627118080932e14 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -24,6 +24,10 @@ public class DriveTrain extends PIDSubsystem {
   private static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
 
   private Encoder leftEncoder, rightEncoder;
+
+  public static Lidar leftLidar;
+  public static Lidar rightLidar;
+
   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
   private RobotDrive robotDrive;
 
@@ -53,6 +57,10 @@ public class DriveTrain extends PIDSubsystem {
     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
 
     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
+
+    leftLidar = new Lidar(I2C.Port.kOnboard);
+    rightLidar = new Lidar(I2C.Port.kOnboard); // TODO: find port for second
+                                               // lidar
     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
@@ -107,6 +115,14 @@ public class DriveTrain extends PIDSubsystem {
     rightEncoder.reset();
   }
 
+  public double getLeftLidarDistance() {
+    return leftLidar.pidGet();
+  }
+
+  public double getRightLidarDistance() {
+    return rightLidar.pidGet();
+  }
+
   public double getRightSpeed() {
     return rightEncoder.getRate(); // in inches per second
   }
@@ -195,8 +211,7 @@ public class DriveTrain extends PIDSubsystem {
         output = Math.signum(output) * 0.3;
       left = output;
       right = output + drift * kp / 10;
-    }
-    else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
+    } else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
       left = output;
       right = -output;
     }