Auto align scoring

src/main/java/frc4388/robot/commands/GotoLastApril.java

@@ -28,15 +28,19 @@ public class GotoLastApril extends Command {
 
     SwerveDrive swerveDrive;
     Vision vision;
+    double distance;
+    Side side;
 
     /**
      * Command to drive robot to position.
      * @param SwerveDrive m_robotSwerveDrive
      */
 
-    public GotoLastApril(SwerveDrive swerveDrive, Vision vision) {
+    public GotoLastApril(SwerveDrive swerveDrive, Vision vision, double distance, Side side) {
         this.swerveDrive = swerveDrive;
         this.vision = vision;
+        this.distance = distance;
+        this.side = side;
         // addRequirements(swerveDrive);
     }
 
@@ -50,7 +54,7 @@ public class GotoLastApril extends Command {
     public void initialize() {
         xPID.initialize();
         yPID.initialize();
-        this.targetpos = ReefPositionHelper.getNearestPosition(this.vision.getPose2d(), Side.LEFT, AutoConstants.X_OFFSET_TRIM.get());
+        this.targetpos = ReefPositionHelper.getNearestPosition(this.vision.getPose2d(), side, AutoConstants.X_OFFSET_TRIM.get(), distance);
     }
     
     double xerr;
@@ -70,6 +74,10 @@ public class GotoLastApril extends Command {
         double youtput = yPID.update(yerr);
         double rotoutput = rotPID.update(roterr);
 
+        xoutput *= Math.abs(xerr) < AutoConstants.XY_TOLERANCE ? 0 : 1;
+        youtput *= Math.abs(yerr) < AutoConstants.XY_TOLERANCE ? 0 : 1;
+        rotoutput *= Math.abs(roterr) < AutoConstants.ROT_TOLERANCE ? 0 : 1;
+
         Translation2d leftStick = new Translation2d(
             Math.max(Math.min(-youtput, 1), -1),
             Math.max(Math.min(-xoutput, 1), -1)

src/main/java/frc4388/robot/commands/waitElevatorRefrence.java

@@ -0,0 +1,36 @@
+// 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;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.subsystems.Elevator;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class waitElevatorRefrence extends Command {
+  /** Creates a new waitElevatorRefrence. */
+  private Elevator elevator;
+  public waitElevatorRefrence(Elevator elevator) {
+    this.elevator = elevator;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // 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 elevator.elevatorAtRefrence();
+  }
+}

src/main/java/frc4388/robot/commands/waitEndefectorRefrence.java

@@ -0,0 +1,36 @@
+// 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;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.subsystems.Elevator;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class waitEndefectorRefrence extends Command {
+  /** Creates a new waitElevatorRefrence. */
+  private Elevator elevator;
+  public waitEndefectorRefrence(Elevator elevator) {
+    this.elevator = elevator;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // 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 elevator.endefectorAtRefrence();
+  }
+}