public void turnStart(double degrees) {
turnPID.reset();
gyro.reset();
turnPID.setSetpoint(degrees);
turnPID.enable();
Timer.delay(.1);
System.out.println(
"start turning from " + RobotMap.roundtoTwo(gyro.getAngle()) + " to setpoint " + degrees);
}
public void setDistanceSetpoint(double inches) {
distPID.setSetpoint(inches);
}
public void distStart(double inches) {
distPID.setSetpoint(inches);
distPID.enable();
}
public void setTurnSetpoint(double degrees) {
turnPID.setSetpoint(degrees);
}
/**
* Sets the setpoint to the given value. If {@link PIDCommand#setRange(double, double)
* setRange(...)} was called, then the given setpoint will be trimmed to fit within the range.
*
* @param setpoint the new setpoint
*/
protected void setSetpoint(double setpoint) {
controller.setSetpoint(setpoint);
}