move the axleWidth constant from Autonomous to HwRobot.

2 files changed, 7 insertions, 6 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
index 2669205..3f6b7b4 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
@@ -145,7 +145,6 @@ public class Autonomous {
 		}
 	}
 
-	private static final double axleWidth = 2; // in feet
 	private static Command driveDistance(HwRobot robot, double speed, double dist) {
 		return new DriveDistance(robot, 0.2,
 		                         speed, dist,
@@ -153,8 +152,8 @@ public class Autonomous {
 	}
 	private static Command turnRadians(HwRobot robot, double speed, double rad) {
 		return new DriveDistance(robot, 0.6,
-		                         speed, Math.copySign(rad*axleWidth/2, rad),
-		                         speed, Math.copySign(rad*axleWidth/2, -rad));
+		                         speed, Math.copySign(rad*robot.axleWidth/2, rad),
+		                         speed, Math.copySign(rad*robot.axleWidth/2, -rad));
 	}
 	private static Command turnDegrees(HwRobot robot, double speed, double deg) {
 		return turnRadians(robot, speed, deg * Math.PI/180);
diff --git a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
index a72ae44..23d98b3 100644
--- a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
@@ -80,9 +80,8 @@ public class HwRobot {
 	public DoubleSolenoid
 		shifter = new DoubleSolenoid(/*PCM*/4, /*PCM*/5),
 		ged     = new DoubleSolenoid(/*PCM*/6, /*PCM*/7);
-	
-	private double maxRate = 0;
-	private double minBatt = 20;
+
+	public final double axleWidth = 2.0; // in feet
 
 	public HwRobot() {
 		lDriveE.setDistancePerPulse(10.0/*feet*/ / 1865.75/*pulses*/);
@@ -96,6 +95,9 @@ public class HwRobot {
 		rRate = new RollingAvg(5, rDriveE);
 	}
 
+	private double maxRate = 0;
+	private double minBatt = 20;
+
 	public void run(Control c) {
 		lDriveM.pidWrite(c.lDrive);
 		rDriveM.pidWrite(-c.rDrive);