From 96d59feb5d3491feb8fda9d2093e5be672e8de85 Mon Sep 17 00:00:00 2001
From: nathanrsxtn <nathanrsxtn@gmail.com>
Date: Thu, 7 Mar 2019 15:31:07 -0800
Subject: [PATCH] Update Drive.java

Added method turnToAngle
---
 .../main/java/org/usfirst/frc4388/robot/subsystems/Drive.java  | 3 +++
 1 file changed, 3 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..da26c21 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
@@ -910,5 +910,8 @@ public class Drive extends Subsystem implements ControlLoopable
 			}
 			SmartDashboard.putNumber("Update Period (ms)", lastControlLoopUpdatePeriod * 1000.0);
 		}
+	}
+	public void turnToAngle(double targetAngle, double maxError, double maxPrevError, MPSoftwareTurnType turnType) {
+		setRelativeTurnPID(targetAngle - getGyroAngleDeg(), maxError, maxPrevError, turnType);
 	}	
 }
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