cleaned imports in oi and added update pid constants functionality

Author: dfang314

Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java

@@ -9,6 +9,7 @@
 
 import org.usfirst.frc.team199.Robot2018.commands.ShiftDriveType;
 import org.usfirst.frc.team199.Robot2018.commands.ShiftLowGear;
+import org.usfirst.frc.team199.Robot2018.commands.UpdatePIDConstants;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
@@ -51,6 +52,7 @@ public class OI {
 	private JoystickButton shiftDrive;
 	private JoystickButton shiftDriveType;
 	public Joystick rightJoy;
+	private JoystickButton updatePidConstants;
 	public Joystick manipulator;
 
 	public int getButton(String key, int def) {
@@ -66,7 +68,11 @@ public OI() {
 		shiftDrive.whenPressed(new ShiftLowGear());
 		shiftDriveType = new JoystickButton(leftJoy, getButton("Shift Drive Type", 2));
 		shiftDriveType.whenPressed(new ShiftDriveType());
+		
 		rightJoy = new Joystick(1);
+		updatePidConstants = new JoystickButton(rightJoy, getButton("Get PID Constants", 8));
+		updatePidConstants.whenPressed(new UpdatePIDConstants());
+		
 		manipulator = new Joystick(2);
 	}
 }

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/UpdatePIDConstants.java

@@ -0,0 +1,46 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import org.usfirst.frc.team199.Robot2018.Robot;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class UpdatePIDConstants extends Command {
+
+	Timer tim;
+
+	public UpdatePIDConstants() {
+		// Use requires() here to declare subsystem dependencies
+		// eg. requires(chassis);
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+		tim = new Timer();
+		tim.reset();
+		tim.start();
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		Robot.dt.updatePidConstants();
+	}
+
+	// Make this return true when this Command no longer needs to run execute()
+	protected boolean isFinished() {
+		return tim.get() > Robot.getConst("Update Constants Time", 0.1);
+	}
+
+	// Called once after isFinished returns true
+	protected void end() {
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	protected void interrupted() {
+		end();
+	}
+}

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Drivetrain.java

@@ -42,6 +42,14 @@ public class Drivetrain extends Subsystem implements PIDOutput, PIDSource {
 
 	private double pidOut = 0;
 
+	/**
+	 * Updates the PIDControllers' PIDConstants based on SmartDashboard values
+	 */
+	public void updatePidConstants() {
+		turnController.setPID(Robot.getConst("TurnkP", 1), Robot.getConst("TurnkI", 0), Robot.getConst("TurnkD", 0));
+		moveController.setPID(Robot.getConst("MovekP", 1), Robot.getConst("MovekI", 0), Robot.getConst("MovekD", 0));
+	}
+
 	/**
 	 * Activates the solenoid to push the drivetrain into low or high gear
 	 *