@Override
public void onPIDEvent(PIDEvent e) {
currentEncoderReading = e.getValue();
setRobotLocationUpdate(ak.onPIDEvent(e, getSteeringAngle()));
}
@Override
public void onPIDReset(int group, int currentValue) {
System.out.println("Resetting PID");
ak.onPIDReset(currentValue);
}
public double getMaxTicksPerSecond() {
return ak.getMaxTicksPerSeconds();
}
@Override
public void DriveVelocityArc(double degreesPerSecond, double cmRadius) {
setVelocityData(ak.DriveVelocityArc(degreesPerSecond, cmRadius));
}
@Override
public void DriveVelocityStraight(double cmPerSecond) {
setVelocityData(ak.DriveVelocityStraight(cmPerSecond));
}
@Override
public void DriveArc(double cmRadius, double degrees, double seconds) {
setDriveData(ak.DriveArc(cmRadius, degrees, seconds));
}
@Override
public void DriveStraight(double cm, double seconds) {
setDriveData(ak.DriveStraight(cm, seconds));
}