Add lidar to drivetrain

[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 6969ed1d961de1130ef7f9658578a770b4a09662..6936abf72335a05142e400b45f673cf63342fcb1 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,15 +1,18 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Lidar;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
   // Drivetrain related objects
   private Encoder leftEncoder, rightEncoder;
+  public static Lidar lidar;
   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
 
   public DriveTrain() {
@@ -18,6 +21,7 @@ public class DriveTrain extends Subsystem {
     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
 
+    lidar = new Lidar(I2C.Port.kOnboard);
     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
@@ -35,6 +39,10 @@ public class DriveTrain extends Subsystem {
     rightEncoder.reset();
   }
 
+  public double getLidarDistance() {
+    return lidar.pidGet();
+  }
+
   public double getRightSpeed() {
     return rightEncoder.getRate(); // in inches per second
   }