autos better + drive for time + rotate until target

src/main/java/frc4388/robot/commands/DriveCommands/DriveWithInputForTime.java

@@ -0,0 +1,59 @@
+// 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 frc4388.robot.commands.DriveCommands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.SwerveDrive;
+
+public class DriveWithInputForTime extends CommandBase {
+
+  // subsystems
+  SwerveDrive swerve;
+
+  double[] inputs;
+
+  // timing
+  long start;
+  long elapsed;
+  double duration;
+
+  /**
+   * DriveWithInput for a specified amount of time.
+   * @param inputs Inputs used in DriveWithInput (xspeed, yspeed, xrot, yrot).
+   * @param time Time to DriveWithInput for, in seconds.
+   */
+  public DriveWithInputForTime(SwerveDrive swerve, double[] inputs, double duration) {
+    // Use addRequirements() here to declare subsystem dependencies.
+
+    this.swerve = swerve;
+    this.inputs = inputs;
+    this.duration = duration;
+
+    addRequirements(this.swerve);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    start = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    elapsed = System.currentTimeMillis() - start;
+    this.swerve.driveWithInput(inputs[0], inputs[1], inputs[2], inputs[3], true);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return (((long) duration) >= (start - elapsed));
+  }
+}

src/main/java/frc4388/robot/commands/DriveCommands/RotateUntilTarget.java

@@ -0,0 +1,52 @@
+// 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 frc4388.robot.commands.DriveCommands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.SwerveDrive;
+import frc4388.robot.subsystems.VisionOdometry;
+
+public class RotateUntilTarget extends CommandBase {
+
+  // subsystems
+  SwerveDrive swerve;
+  VisionOdometry visionOdometry;
+
+  double rotateSpeed;
+
+  /** Creates a new RotateUntilTarget. */
+  public RotateUntilTarget(SwerveDrive swerve, VisionOdometry visionOdometry, double rotateSpeed) {
+    // Use addRequirements() here to declare subsystem dependencies.
+
+    this.swerve = swerve;
+    this.visionOdometry = visionOdometry;
+
+    this.rotateSpeed = rotateSpeed;
+
+    addRequirements(this.swerve, this.visionOdometry);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    this.visionOdometry.setLEDs(true);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    this.swerve.driveWithInput(0.0, 0.0, rotateSpeed, true);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return this.visionOdometry.m_camera.getLatestResult().hasTargets();
+  }
+}