Initialize AnalogGyro in Robot class

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 6e4ae0c153aab084245af249892d951c87b59463..1fd735aa33db0579c1f8c73682232a4e951ea65d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -7,7 +7,6 @@ import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
-import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -31,8 +30,6 @@ public class Robot extends IterativeRobot {
   public void robotInit() {
     driveTrain = new DriveTrain();
     oi = new OI();
-    gyro = new GyroLib(I2C.Port.kOnboard, false);
-
     shooter = new Shooter();
     scaler = new Scaler();
     defenseArm = new DefenseArm();
@@ -44,7 +41,7 @@ public class Robot extends IterativeRobot {
     // make the Sendable Choosers
     initializeSendableChoosers();
     addPositionChooserOptions();
-    addDefensesToAllDefenseSendableChoosers();
+    addDefensesToAllDefenseSendableChooosers();
     sendSendableChoosersToSmartDashboard();
 
   }
@@ -66,7 +63,7 @@ public class Robot extends IterativeRobot {
     positionChooser.addObject("Position 5", 5);
   }
 
-  private void addDefensesToAllDefenseSendableChoosers() {
+  private void addDefensesToAllDefenseSendableChooosers() {
     addDefenseOptions(positionOneDefense);
     addDefenseOptions(positionTwoDefense);
     addDefenseOptions(positionThreeDefense);
@@ -105,6 +102,20 @@ public class Robot extends IterativeRobot {
 
   }
 
+  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();
@@ -137,17 +148,12 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-
-    gyro.start();
-
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
 
-    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
-
   }
 
 }