Fix deleted stuff that shouldn't have been deleted

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 8453e1cc39a3f86aeed50c5399dc35c8f19fa492..ac4e2fac8ad27ec6dac8e78dc41c567ba3d58275 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -19,46 +19,23 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
 
   public static Scaler scaler;
-<<<<<<< HEAD
-  double then;
-=======
 
->>>>>>> Remove useless variables and commented stuff in Robot.java
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-      positionFourDefense, positionFiveDefense;
+  positionFourDefense, positionFiveDefense;
 
   // Gyro stuff
-<<<<<<< HEAD
-  private final static double NANOSECONDS_PER_SECOND = 1000000000;
-  short rawValue;
-  public GyroClass gyro;
-
-  double now;
-  double degreesIncreased;
-  double degrees;
-
-  Rotation rotation;
-=======
-<<<<<<< HEAD
-  short rawValue;
-  public AnotherGyroClass gyro;
-=======
   public GyroLib gyro;
->>>>>>> Remove useless variables and commented stuff in Robot.java
 >>>>>>> Remove useless variables and commented stuff in Robot.java
 
   @Override
   public void robotInit() {
-<<<<<<< HEAD
-    // driveTrain = new DriveTrain();
-    gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
-    // oi = new OI();
-=======
+    driveTrain = new DriveTrain();
+    oi = new OI();
     gyro = new GyroLib(I2C.Port.kOnboard, false);
 >>>>>>> Remove useless variables and commented stuff in Robot.java
 
@@ -67,14 +44,9 @@ public class Robot extends IterativeRobot {
     defenseArm = new DefenseArm();
     intakeArm = new IntakeArm();
 
-<<<<<<< HEAD
-    // Sendable Choosers allows the driver to select the position of the robot
-    // and the positions of the defenses from a drop-down menu on the Smart
-    // Dashboard
-    // make the Sendable Choosers
     initializeSendableChoosers();
     addPositionChooserOptions();
-    addDefensesToAllDefenseSendableChooosers();
+    addDefensesToAllDefenseSendableChoosers();
     sendSendableChoosersToSmartDashboard();
 
 =======
@@ -98,7 +70,7 @@ public class Robot extends IterativeRobot {
     positionChooser.addObject("Position 5", 5);
   }
 
-  private void addDefensesToAllDefenseSendableChooosers() {
+  private void addDefensesToAllDefenseSendableChoosers() {
     addDefenseOptions(positionOneDefense);
     addDefenseOptions(positionTwoDefense);
     addDefenseOptions(positionThreeDefense);
@@ -127,12 +99,14 @@ public class Robot extends IterativeRobot {
         positionFourDefense);
     SmartDashboard.putData("Position Five Defense Chooser",
         positionFiveDefense);
+
     SmartDashboard.putData("Position Four Defense Chooser",
         positionFourDefense);
     SmartDashboard.putData("Position Five Defense Chooser",
         positionFiveDefense);
 
     shooter = new Shooter();
+
   }
 
   @Override
@@ -167,43 +141,17 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+
+    gyro.start();
+
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-  }
-
-  public double getZAxisDegreesPerSeconds() {
-    double rawValue = gyro.getRotationZ() / 14.375;
-    return rawValue;
-  }
 
-  public void initializeGyro() {
-    degrees = 0;
-    then = System.nanoTime() / 1000000000.0;
-    gyro.reset();
-    gyro.initialize();
-    System.out.println("Testing Gyro Init");
-  }
-
-  public void addZAxisDegrees() {
-    double degreesRead = getZAxisDegreesPerSeconds();
-    now = System.nanoTime();
-    now = now / (1000000000.0);
-    double differenceInTime = now - then;
-    then = now;
-    degreesIncreased = differenceInTime * degreesRead;
-
-    // 0.0 = register
-    // + 1.0 is the formula constant
-    //
-    degrees += degreesIncreased;
-
-  }
+    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
 
-  public double getDegrees() {
-    return degrees;
   }
 
 }