From 572dd7c730f527c99a673b1070ea384ba0138ea1 Mon Sep 17 00:00:00 2001
From: Aarav Shah <91212@psdschools.org>
Date: Thu, 13 Feb 2020 17:51:54 -0700
Subject: [PATCH] Took out straight from methods

---
 .../robot/commands/DriveStraightAtVelocityPID.java     |  2 +-
 .../robot/commands/DriveStraightToPositionPID.java     |  2 +-
 .../commands/DriveWithJoystickUsingDeadAssistPID.java  |  2 +-
 src/main/java/frc4388/robot/subsystems/Drive.java      | 10 +++++-----
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java b/src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java
index 7b82ff8..14cc97e 100644
--- a/src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java
+++ b/src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java
@@ -37,7 +37,7 @@ public class DriveStraightAtVelocityPID extends CommandBase {
   @Override
   public void execute() {
     //System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
-    m_drive.runDriveStraightVelocityPID(-m_targetVel, m_targetGyro);
+    m_drive.runDriveVelocityPID(-m_targetVel, m_targetGyro);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
index 0b9b998..3b74edf 100644
--- a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+++ b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
@@ -47,7 +47,7 @@ public class DriveStraightToPositionPID extends CommandBase {
     //System.err.println("| \n Sensor Pos \n" + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
     //System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
     //System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
-    m_drive.runDriveStraightPositionPID(m_targetPosOut, m_targetGyro);
+    m_drive.runDrivePositionPID(m_targetPosOut, m_targetGyro);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java b/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
index 0a7938e..7aaf5a9 100644
--- a/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+++ b/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
@@ -96,7 +96,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
     }
     /* If the move stick is not being used */
     else {
-      m_drive.runDriveStraightVelocityPID(0, m_targetGyro);
+      m_drive.runDriveVelocityPID(0, m_targetGyro);
       isAuxPIDEnabled = true;
     }
   }
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 3cbf888..5db8a18 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -309,12 +309,12 @@ public class Drive extends SubsystemBase {
   }
 
   /**
-   * Runs position PID while driving straight.
+   * Runs position PID.
    * Position is absolute and displacement should be handled on the command side.
    * @param targetPos  The position to drive to in units
    * @param targetGyro The angle to drive at in units
    */
-  public void runDriveStraightPositionPID(double targetPos, double targetGyro) {
+  public void runDrivePositionPID(double targetPos, double targetGyro) {
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
 
@@ -325,12 +325,12 @@ public class Drive extends SubsystemBase {
   }
 
   /**
-   * Runs velocity PID while driving straight
+   * Runs velocity PID
    * 
    * @param targetVel  The velocity to drive at in units
    * @param targetGyro The angle to drive at in units
    */
-  public void runDriveStraightVelocityPID(double targetVel, double targetGyro) {
+  public void runDriveVelocityPID(double targetVel, double targetGyro) {
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
     m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
@@ -362,7 +362,7 @@ public class Drive extends SubsystemBase {
   public void runTurningPID(double targetAngle) {
     double targetGyro = (targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
 
-    runDriveStraightVelocityPID(0, targetGyro);
+    runDriveVelocityPID(0, targetGyro);
   }
 
   /**