From 45dda458784955b68d862fe6c562aef2ac7bedd7 Mon Sep 17 00:00:00 2001
From: "Keenan D. Buckley" <hfocus77@gmail.com>
Date: Thu, 7 Mar 2019 18:46:38 -0700
Subject: [PATCH] Create setAbsoluteTurnPID

---
 .../java/org/usfirst/frc4388/robot/subsystems/Drive.java   | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
index 5fdc9b4..e019f4f 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
@@ -452,6 +452,13 @@ public class Drive extends Subsystem implements ControlLoopable
 		pidTurnController.setPIDTurnTarget(relativeTurnAngleDeg + getGyroAngleDeg(), maxError, maxPrevError, turnType);
 		setControlMode(DriveControlMode.PID_TURN);
 	}
+
+	public void setAbsoluteTurnPID(double absoluteTurnAngleDeg, double maxError, double maxPrevError, MPSoftwareTurnType turnType) {
+		this.targetPIDAngle = absoluteTurnAngleDeg;
+		pidTurnController.setPIDTurnTarget(absoluteTurnAngleDeg, maxError, maxPrevError, turnType);
+		setControlMode(DriveControlMode.PID_TURN);
+	}
+	
 /*
 	public void setPathMP(PathGenerator path) {
 		mpPathController.setPID(mpPathPIDParams);