protected void initialize() {
// Use standard mecanum drive
drivebase.initMecanum(false);
/*
* Enable drivebase rotational PID
*/
// Set target angle
m_pc.setSetpoint(m_target);
// Throttle down the max allowed speed
m_pc.setOutputRange(-0.5, 0.5);
// Set tolerance around the target angle
m_pc.setAbsoluteTolerance(5);
// Reset and enable PID controller
m_pc.reset();
m_pc.enable();
}
// Called just before this Command runs the first time
protected void initialize() {
// Get everything in a safe starting state.
Robot.drivetrain.reset();
pid.reset();
pid.enable();
}
public void stop() {
turnController.reset();
robotDrive.drive(0, 0);
}