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;
}
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++;
}