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GyroTurn.kt
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GyroTurn.kt
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package org.firstinspires.ftc.teamcode.commands.camp
import kotlinx.serialization.Serializable
import org.firstinspires.ftc.teamcode.base.BaseHardware
import org.firstinspires.ftc.teamcode.framework.Command
import org.firstinspires.ftc.teamcode.framework.hardware.MotorModes
import org.firstinspires.ftc.teamcode.other.Vector
import org.firstinspires.ftc.teamcode.subsystems.Drivetrain
@Serializable
class GyroTurn(val angle: Double, val p: Double): Command() {
override fun init() {
Drivetrain.group.mode = MotorModes.ControllerVelocityLoop
}
override fun isFinished(): Boolean {
val error = angle - BaseHardware.gyro.derivedAbsoluteAngle
if(Math.abs(error) < 2) {
return true
} else {
return false
}
}
override fun loop() {
val error = angle - BaseHardware.gyro.derivedAbsoluteAngle
Drivetrain.drive(Vector(0.0, 0.0), -p * error)
}
override fun stop() {
Drivetrain.drive(Vector(0.0,0.0),0.0)
}
}