Add Distance PID Command

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

@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* 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;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Drive;
+
+public class DriveToDistancePID extends CommandBase {
+  Drive m_drive;
+  double m_distance;
+  double m_leftTarget;
+  double m_rightTarget;
+  
+  /**
+   * Creates a new DriveToDistancePID.
+   */
+  public DriveToDistancePID(Drive subsystem, double distance) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_distance = distance;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
+    m_rightTarget = m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_drive.gotoPositionPID(m_drive.m_leftFrontMotor, m_leftTarget);
+    m_drive.gotoPositionPID(m_drive.m_rightFrontMotor, m_rightTarget);
+  }
+
+  // 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() {
+    if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_leftTarget) < 100){
+      return true;
+    } else {
+      return false;
+    }
+  }
+}