From 45bdf5b9a36d349c8ce18a86c6730a7288c3e402 Mon Sep 17 00:00:00 2001
From: Kevin Zhang <icestormf1@gmail.com>
Date: Wed, 10 Feb 2016 19:02:15 -0800
Subject: [PATCH] Delete PID stuff that somehow got into master

---
 .../usfirst/frc/team3501/robot/Constants.java |  8 +++
 .../team3501/robot/subsystems/DriveTrain.java | 56 +------------------
 2 files changed, 10 insertions(+), 54 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 6e3f6ee4..6f2b3cd0 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -33,6 +33,14 @@ public class Constants {
     public final static int ENCODER_LEFT_B = 4;
     public final static int ENCODER_RIGHT_A = 2;
     public final static int ENCODER_RIGHT_B = 1;
+
+    private final static double WHEEL_DIAMETER = 6.0; // in inches
+    private final static double PULSES_PER_ROTATION = 256; // in pulses
+    private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+    private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
+    public final static double INCHES_PER_PULSE = (((Math.PI)
+        * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER)
+        * WHEEL_DIAMETER;
   }
 
   public static class Scaler {
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 76f4a89e..6969ed1d 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -3,85 +3,33 @@ package org.usfirst.frc.team3501.robot.subsystems;
 import org.usfirst.frc.team3501.robot.Constants;
 
 import edu.wpi.first.wpilibj.CANTalon;
-import edu.wpi.first.wpilibj.CANTalon.TalonControlMode;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PIDController;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
   // Drivetrain related objects
   private Encoder leftEncoder, rightEncoder;
   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
-  private PIDController frontLeftC, frontRightC, rearLeftC, rearRightC;
-  // Drivetrain specific constants that relate to the inches per pulse value for
-  // the encoders
-  private final static double WHEEL_DIAMETER = 6.0; // in inches
-  private final static double PULSES_PER_ROTATION = 256; // in pulses
-  private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
-  private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
-  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;
 
   public DriveTrain() {
     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
-    this.configureTalons();
-
-    frontLeftC = new PIDController(Kp, Ki, Kd, frontLeft, frontLeft);
-    frontRightC = new PIDController(Kp, Ki, Kd, frontRight, frontRight);
-    rearLeftC = new PIDController(Kp, Ki, Kd, frontLeft, rearLeft);
-    rearRightC = new PIDController(Kp, Ki, Kd, frontRight, rearRight);
-    this.enablePIDControllers();
 
     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
         Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
-    leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
-    rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
+    leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+    rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
   }
 
   @Override
   protected void initDefaultCommand() {
   }
 
-  public void configureTalons() {
-    frontLeft.changeControlMode(TalonControlMode.Speed);
-    frontRight.changeControlMode(TalonControlMode.Speed);
-    rearLeft.changeControlMode(TalonControlMode.Speed);
-    rearRight.changeControlMode(TalonControlMode.Speed);
-
-    frontLeft.configEncoderCodesPerRev(256);
-    frontRight.configEncoderCodesPerRev(256);
-    rearLeft.configEncoderCodesPerRev(256);
-    rearRight.configEncoderCodesPerRev(256);
-
-    frontLeft.enableControl();
-    frontRight.enableControl();
-    rearLeft.enableControl();
-    rearRight.enableControl();
-  }
-
-  public void enablePIDControllers() {
-    frontLeftC.enable();
-    frontRightC.enable();
-    rearLeftC.enable();
-    rearRightC.enable();
-  }
-
-  public void drive(double left, double right) {
-    frontLeftC.setSetpoint(left);
-    rearLeftC.setSetpoint(left);
-    frontRightC.setSetpoint(right);
-    rearRightC.setSetpoint(right);
-  }
-
   public void resetEncoders() {
     leftEncoder.reset();
     rightEncoder.reset();
-- 
2.30.2