fix auto

1 files changed, 6 insertions, 0 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
index 091b68b..e3b2bd5 100644
--- a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
@@ -34,6 +34,7 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PIDOutput;
+import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
 import edu.wpi.first.wpilibj.Talon;
@@ -42,6 +43,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
 import org.usfirst.frc.team4272.robotlib.PIDServo;
+import org.usfirst.frc.team4272.robotlib.RollingAvg;
 
 public class HwRobot {
 	/* Relay == a Spike */
@@ -71,6 +73,7 @@ public class HwRobot {
 	    camTilt = new PIDServo(9);
 	public final Encoder   lDriveE = new Encoder(/*DIO*/0,/*DIO*/1, /*reverse*/false);
 	public final Encoder   rDriveE = new Encoder(/*DIO*/2,/*DIO*/3, /*reverse*/true);
+	public final PIDSource lRate, rRate;
 	public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
 	public final DriverStation ds = DriverStation.getInstance();
 
@@ -88,6 +91,9 @@ public class HwRobot {
 		lDriveE.setPIDSourceType(PIDSourceType.kRate);
 		rDriveE.setPIDSourceType(PIDSourceType.kRate);
 		//PDP.initTable(NetworkTable.getTable("PDP"));
+
+		lRate = new RollingAvg(5, lDriveE);
+		rRate = new RollingAvg(5, rDriveE);
 	}
 
 	public void run(Control c) {