// Make this return true when this Command no longer needs to run execute() protected boolean isFinished() { if (m_angle > 0) { return HardwareAdapter.LeftDriveEncoderPID.onTarget(10) || isTimedOut(); } else { return HardwareAdapter.RightDriveEncoderPID.onTarget(10) || isTimedOut(); } }
// Called just before this Command runs the first time protected void initialize() { HardwareAdapter.GyroPID.setPID(Constants.kGyroKp, Constants.kGyroKi, Constants.kGyroKd); if (m_angle > 0) { HardwareAdapter.LeftDriveEncoderPID.setSetpoint(m_clicks + HardwareAdapter.getLeftDriveEnc()); } else { HardwareAdapter.RightDriveEncoderPID.setSetpoint( m_clicks + HardwareAdapter.getRightDriveEnc()); } HardwareAdapter.GyroPID.setSetpoint(HardwareAdapter.kSpartanGyro.getAngle() + m_angle); }