Make 2 methods for gyro to getAngle and setSensitivity in DriveTrain class

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index f1ee752d089850174cc523cacbfbba24bc7c28ad..bc3d735e22ec36829f0e05dfaa074f4d42ef1b03 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -16,6 +16,7 @@ public class Robot extends IterativeRobot {
   public static OI oi;
   public static DriveTrain driveTrain;
   public static Shooter shooter;
+
   public static Scaler scaler;
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
@@ -100,20 +101,6 @@ public class Robot extends IterativeRobot {
     shooter = new Shooter();
   }
 
-  private void addDefense(SendableChooser chooser) {
-    chooser.addDefault("Portcullis", Defense.PORTCULLIS);
-    chooser.addObject("Sally Port", Defense.SALLY_PORT);
-    chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
-    chooser.addObject("Low Bar", Defense.LOW_BAR);
-    chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
-    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
-    chooser.addObject("Moat", Defense.MOAT);
-    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
-
-    shooter = new Shooter();
-
-  }
-
   @Override
   public void autonomousInit() {
     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 e7610ce1672c3bc2927c41b1cbd0501f68a561bd..6c004b42eea16bd0afd9db354925939176b5bd0e 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -25,6 +25,7 @@ public class DriveTrain extends Subsystem {
   public final static double INCHES_PER_PULSE = (((Math.PI)
       * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
       / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+
   // Drivetrain specific constants that relate to the PID controllers
   private final static double Kp = 1.0, Ki = 0.0,
       Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
@@ -97,5 +98,4 @@ public class DriveTrain extends Subsystem {
     this.rearLeft.set(leftSpeed);
     this.rearRight.set(-rightSpeed);
   }
-
 }