Instantiate and run gyro method in TeleOp

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 60a5511927a0b589fbdeeb15c808d93c664e75fb..afb5413974011357631aee71844687c5f77c21f2 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -142,6 +142,5 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index cd8b3d3a02407f9a3d3d93467c4c80ade71057ea..c19dd9982564ae5b3c59b25d03d2976de861d2e0 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,8 +1,10 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.FirebotGyro;
 import org.usfirst.frc.team3501.robot.Lidar;
 
+import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.Encoder;
@@ -32,6 +34,9 @@ public class DriveTrain extends Subsystem {
       Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
           / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
 
+  public AnalogInput channel;
+  public FirebotGyro gyro;
+
   public DriveTrain() {
     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
@@ -50,6 +55,8 @@ public class DriveTrain extends Subsystem {
     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
 
+    gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+
   }
 
   @Override
@@ -105,4 +112,5 @@ public class DriveTrain extends Subsystem {
     this.rearLeft.set(leftSpeed);
     this.rearRight.set(-rightSpeed);
   }
+
 }