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44 changes: 44 additions & 0 deletions
44
src/main/java/frc/robot/commands/DriveCommands/TurnWhenLeft.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.commands.DriveCommands; | ||
|
|
||
| import edu.wpi.first.math.geometry.Translation2d; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.Drivetrain; | ||
|
|
||
| public class TurnWhenLeft extends Command { | ||
| /** Creates a new TurnWhenLeft. */ | ||
| private final Drivetrain m_drivetrain; | ||
| public TurnWhenLeft(Drivetrain d) { | ||
| m_drivetrain = d; | ||
| addRequirements(d); | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| } | ||
|
|
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| m_drivetrain.zeroGyro(); | ||
| m_drivetrain.driveRobotRelative(new Translation2d(), 0, true); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| m_drivetrain.driveRobotRelative(new Translation2d(0, 0), -Math.PI / 4, true); | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| m_drivetrain.driveRobotRelative(new Translation2d(), 0, true); | ||
| } | ||
|
|
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return m_drivetrain.getNavxAngle().getDegrees() <= -40; | ||
| } | ||
| } |
44 changes: 44 additions & 0 deletions
44
src/main/java/frc/robot/commands/DriveCommands/TurnWhenRight.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.commands.DriveCommands; | ||
|
|
||
| import edu.wpi.first.math.geometry.Translation2d; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.Drivetrain; | ||
|
|
||
| public class TurnWhenRight extends Command { | ||
| /** Creates a new TurnWhenLeft. */ | ||
| private final Drivetrain m_drivetrain; | ||
| public TurnWhenRight(Drivetrain d) { | ||
| m_drivetrain = d; | ||
| addRequirements(d); | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| } | ||
|
|
||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| m_drivetrain.zeroGyro(); | ||
| m_drivetrain.driveRobotRelative(new Translation2d(), 0, true); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| m_drivetrain.driveRobotRelative(new Translation2d(0, 0), Math.PI / 4, true); | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| m_drivetrain.driveRobotRelative(new Translation2d(), 0, true); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return m_drivetrain.getNavxAngle().getDegrees() <= 40; | ||
| } | ||
| } |
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