예제 #1
0
  public static boolean LTurn() {
    turned = false;
    if (iteration > 0) {
      if (Math.abs(Actuators.getLeftDriveMotor().getError()) < allotedError
          || Math.abs(Actuators.getRightDriveMotor().getError()) < allotedError) {

        reset = true;
      }
    }
    Drive.driveWithPID(0 - turnamountL, turnamountR);
    if (reset == true) {
      Actuators.getLeftDriveMotor().setEncPosition(0);
      Actuators.getRightDriveMotor().setEncPosition(0);
      reset = false;
      turned = true;
    }
    return turned;
  }
예제 #2
0
  public static void go() {
    if (!turned) {
      Left.LTurn();
    } else if (turned && !iPosition) {
      SmartDashboard.putBoolean("turned Check", turned);
      iPosition = Forward.go(24.0);
    }
    // Drive.driveWithPID(0, 0);
    if (iteration > 0) {

      if (Math.abs(Actuators.getLeftDriveMotor().getError()) < allotedError
          || Math.abs(Actuators.getRightDriveMotor().getError()) < allotedError) {

        reset = true;
      }
      if (reset == true) {
        Actuators.getLeftDriveMotor().setEncPosition(0);
        Actuators.getRightDriveMotor().setEncPosition(0);
        reset = false;
        turned = true;
      }
    }
    iteration++;
  }