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;
public static Shooter shooter;
public static Scaler scaler;
+
public static IntakeArm intakeArm;
public static DefenseArm defenseArm;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
positionFourDefense, positionFiveDefense;
+ // Gyro stuff
+ private final static double NANOSECONDS_PER_SECOND = 1000000000;
+ short rawValue;
+ public FirebotGyro gyro;
+
+ double initialSpeedNanoseconds;
+ double finalSpeedNanoseconds;
+ double initialSpeedSeconds;
+ double finalSpeedSeconds;
+ double deltaSpeed;
+ double degrees;
+
@Override
public void robotInit() {
- driveTrain = new DriveTrain();
- oi = new OI();
+ // driveTrain = new DriveTrain();
+ gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+ // oi = new OI();
shooter = new Shooter();
scaler = new Scaler();
@Override
public void teleopInit() {
- Robot.driveTrain.initializeGyro();
}
@Override
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;
public AnalogInput channel;
- // Gyro stuff
- private final static double NANOSECONDS_PER_SECOND = 1000000000;
- short rawValue;
- public FirebotGyro gyro;
-
- double initialSpeedNanoseconds;
- double finalSpeedNanoseconds;
- double initialSpeedSeconds;
- double finalSpeedSeconds;
- double deltaSpeed;
- double degrees;
-
public DriveTrain() {
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
- gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
- gyro.initialize();
}
@Override