Creat autonomous command: AutoDriveTurn

[michaelvdow]

This class will extends the Command class. It needs to have a PIDController object, DummyPIDOutpyt object, and references to the DriveSubsystem and OI classes from the main Robot class.

It will take a double as a parameter for the angle the robot needs to turn.

In the initialize command, it needs to initialize the DummyPIDOuptut object, reset the gyro, and create the turnController.

In the execute command, create a while loop that will run while pid controller is not on target and while the stop button on the controller is pushed. In this loop, it will get the pid output and use this to set the speed of the drive subsystem. Then disable the pid controller and end the method by setting finished to true.

The end() and interrupted() methods need to stop the driveSubsystem.

Check the RobotExample repository for more help