AutoDriveTurn.java

// RobotBuilder Version: 2.0
//
// This file was generated by RobotBuilder. It contains sections of
// code that are automatically generated and assigned by robotbuilder.
// These sections will be updated in the future when you export to
// Java from RobotBuilder. Do not put any code or make any change in
// the blocks indicating autogenerated code or it will be lost on an
// update. Deleting the comments indicating the section will prevent
// it from being updated in the future.


package org.usfirst.frc2876.Stronghold2016.commands;

import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.command.Command;
import org.usfirst.frc2876.Stronghold2016.Robot;

/**
 *
 */
public class AutoDriveTurn extends Command {

    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
    private double m_endAngle;
 
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
    
    PIDController pid;

    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
    public AutoDriveTurn(double endAngle) {

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
        m_endAngle = endAngle;

        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
        requires(Robot.driveTrain);

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
        
        pid = new PIDController(.03, .0, .025, Robot.navX, 
        		new PIDOutput(){ 
        			public void pidWrite(double output) {
        				Robot.driveTrain.myRobot.setLeftRightMotorOutputs(output, -output);
        			}
        		}
        				);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
    	pid.setSetpoint(m_endAngle);
    	pid.enable();
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return true;
    }

    // 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() {
    }
}