From 8bc0fed2615c9a6a51d308e8dfe2d78b14ff2d05 Mon Sep 17 00:00:00 2001 From: Yamini Adusumelli Date: Thu, 18 Feb 2016 15:02:11 -0800 Subject: [PATCH] change lidar ports --- .../team3501/robot/subsystems/DriveTrain.java | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java index 7576e1b0..203078cc 100644 --- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java @@ -44,8 +44,7 @@ public class DriveTrain extends PIDSubsystem { robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); - lidar = new Lidar(I2C.Port.kOnboard); - + lidar = new Lidar(I2C.Port.kMXP); leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X); rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, @@ -197,10 +196,10 @@ 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 @@ -228,7 +227,7 @@ 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 */ @@ -260,9 +259,9 @@ 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) { @@ -302,10 +301,10 @@ 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