Team4388/2023WayOfTheRobot
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This commit is contained in:
Ryan Manley
2023-01-12 18:51:28 -07:00
parent 997e804f77
commit ae770e71c0
2 changed files with 19 additions and 7 deletions
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src/main/java/frc4388/robot/Robot.java
+10 -1
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@@ -7,9 +7,13 @@
package frc4388.robot;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.utility.RobotGyro;
import frc4388.utility.RobotTime;
/**
@@ -25,6 +29,9 @@ public class Robot extends TimedRobot {
private RobotTime m_robotTime = RobotTime.getInstance();
private RobotContainer m_robotContainer;
private WPI_Pigeon2 pigeon = new WPI_Pigeon2(14);
private RobotGyro gyro = new RobotGyro(pigeon);
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
@@ -113,7 +120,9 @@ public class Robot extends TimedRobot {
*/
@Override
public void teleopPeriodic() {
SmartDashboard.putNumber("Gyro Yaw", gyro.getYaw());
SmartDashboard.putNumber("Gyro Pitch", gyro.getPitch());
SmartDashboard.putNumber("Gyro Roll", gyro.getRoll());
}
/**