X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=203078ccfd7f88d9103b8a6ddf4ac529b6212c4c;hp=7576e1b08b4bb3c721d956136db5a2b91b574ea3;hb=8bc0fed2615c9a6a51d308e8dfe2d78b14ff2d05;hpb=0f3df681ca44dc9f5c77f61326e1d7b0143ca2b9

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 7576e1b0..203078cc 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -44,8 +44,7 @@ public class DriveTrain extends PIDSubsystem {
 
     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
 
-    lidar = new Lidar(I2C.Port.kOnboard);
-
+    lidar = new Lidar(I2C.Port.kMXP);
     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
@@ -197,10 +196,10 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * Method is a required method that the PID Subsystem uses to return the
    * calculated PID value to the driver
-   *
+   * 
    * @param Gives the user the output from the PID algorithm that is calculated
    * internally
-   *
+   * 
    * Body: Uses the output, does some filtering and drives the robot
    */
   @Override
@@ -228,7 +227,7 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Checks the drive mode
-   *
+   * 
    * @return the current state of the robot in each state Average distance from
    * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
    */
@@ -260,9 +259,9 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * constrains the distance to within -100 and 100 since we aren't going to
    * drive more than 100 inches
-   *
+   * 
    * Configure Encoder PID
-   *
+   * 
    * Sets the setpoint to the PID subsystem
    */
   public void driveDistance(double dist, double maxTimeOut) {
@@ -302,10 +301,10 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Turning method that should be used repeatedly in a command
-   *
+   * 
    * First constrains the angle to within -360 and 360 since that is as much as
    * we need to turn
-   *
+   * 
    * Configures Gyro PID and sets the setpoint as an angle
    */
   public void turnAngle(double angle) {