Sort Commands and Organise Imports

src/main/java/frc4388/robot/commands/drive/DriveWithJoystickAuxPID.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.drive;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpiutil.math.MathUtil;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+import frc4388.utility.controller.IHandController;
+
+public class DriveWithJoystickAuxPID extends CommandBase {
+  Drive m_drive;
+  double m_targetGyro;
+  long lastTime;
+  IHandController m_controller;
+
+  /**
+   * Creates a new DriveWithJoystickAuxPID.
+   */
+  public DriveWithJoystickAuxPID(Drive subsystem, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_controller = controller;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    lastTime = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    double moveInput = m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
+    double moveOutput = 0;
+    long deltaTime = System.currentTimeMillis() - lastTime;
+    lastTime = System.currentTimeMillis();
+    if (moveInput >= 0){
+      moveOutput = -Math.cos(1.571*moveInput)+1;
+    } else {
+      moveOutput = Math.cos(1.571*moveInput)-1;
+    }
+
+    m_targetGyro += 2 * steerInput * deltaTime;
+
+    m_targetGyro = MathUtil.clamp(m_targetGyro, 
+                                  currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4),
+                                  currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4));
+
+    m_drive.driveWithInputAux(moveOutput, m_targetGyro);
+
+    System.err.println("Target: " + m_targetGyro);
+    System.err.println("Current: " + currentGyro);
+    System.err.println();
+  }
+
+  // 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 false;
+  }
+}