diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2017/Teleop.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2017/Teleop.java | 7 |
1 files changed, 1 insertions, 6 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2017/Teleop.java b/src/org/usfirst/frc/team4272/robot2017/Teleop.java index 254c530..103bd66 100644 --- a/src/org/usfirst/frc/team4272/robot2017/Teleop.java +++ b/src/org/usfirst/frc/team4272/robot2017/Teleop.java @@ -31,17 +31,14 @@ package org.usfirst.frc.team4272.robot2017; import edu.wpi.first.wpilibj.GenericHID.Hand; import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj.PIDSource; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.Preferences; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import org.usfirst.frc.team4272.robotlib.PushButton; -import org.usfirst.frc.team4272.robotlib.RollingAvg; public class Teleop { private final HwRobot robot; - private final PIDSource lRate, rRate; private final Timer timer = new Timer(); private final Preferences prefs = Preferences.getInstance(); @@ -51,8 +48,6 @@ public class Teleop { public Teleop(HwRobot robot) { this.robot = robot; - this.lRate = new RollingAvg(5, robot.lDriveE); - this.rRate = new RollingAvg(5, robot.rDriveE); timer.start(); } @@ -83,7 +78,7 @@ public class Teleop { } else if (oi.rStick.getTrigger()) { control.highGear = true; } else { - double speed = Math.abs((lRate.pidGet() + rRate.pidGet()) / 2); + double speed = Math.abs((robot.lRate.pidGet() + robot.rRate.pidGet()) / 2); if (!control.highGear) { if (speed > shiftUp) control.highGear = true; |