From 643241dab07791483b0b8d33b38362c065d31cf3 Mon Sep 17 00:00:00 2001
From: Kevin Zhang <icestormf1@gmail.com>
Date: Mon, 15 Feb 2016 15:09:32 -0800
Subject: [PATCH] Explain what a setpoint is

---
 .../team3501/robot/subsystems/DriveTrain.java | 21 ++++++++++++-------
 1 file changed, 14 insertions(+), 7 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index c88d4c42..d212059b 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -15,6 +15,13 @@ import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 
 public class DriveTrain extends PIDSubsystem {
+  /*
+   * A setpoint is the value we want the PID controller to attempt to adjust the
+   * system to
+   * In other words, If we want to drive the robot 4 meters, the setpoint would
+   * be 4 meters
+   */
+
   // Encoder PID Proportional Constants P, I, and D
   private static double EP = 0.013, EI = 0.000015, ED = -0.002;
 
@@ -192,10 +199,10 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * Method is a required method that the PID Subsystem uses to return the
    * calculated PID value to the driver
-   * 
+   *
    * @param Gives the user the output from the PID algorithm that is calculated
    * internally
-   * 
+   *
    * Body: Uses the output, does some filtering and drives the robot
    */
   @Override
@@ -224,7 +231,7 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Checks the drive mode
-   * 
+   *
    * @return the current state of the robot in each state
    * Average distance from both sides of tank drive for Encoder Mode
    * Angle from the gyro in GYRO_MODE
@@ -258,9 +265,9 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * constrains the distance to within -100 and 100 since we aren't going to
    * drive more than 100 inches
-   *
+   * 
    * Configure Encoder PID
-   *
+   * 
    * Sets the setpoint to the PID subsystem
    */
   public void driveDistance(double dist, double maxTimeOut) {
@@ -301,10 +308,10 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Turning method that should be used repeatedly in a command
-   * 
+   *
    * First constrains the angle to within -360 and 360 since that is as much as
    * we need to turn
-   * 
+   *
    * Configures Gyro PID and sets the setpoint as an angle
    */
   public void turnAngle(double angle) {
-- 
2.30.2