Got DriveStraightAtVelocityPID Working

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

@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* 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.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+
+public class DriveStraightAtVelocityPID extends CommandBase {
+  Drive m_drive;
+  double m_targetVel;
+  double m_targetGyro;
+  /**
+   * Creates a new DriveVelocityControlPID.
+   */
+  public DriveStraightAtVelocityPID(Drive subsystem, double targetVel) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_targetVel = targetVel;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
+    m_drive.runVelocityPID(m_targetVel, m_targetGyro);
+  }
+
+  // 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;
+  }
+}

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

@@ -12,7 +12,7 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.subsystems.Drive;
 
-public class DriveToDistancePID extends CommandBase {
+public class DriveStraightToPositionPID extends CommandBase {
   Drive m_drive;
   double m_distance;
   double m_leftTarget;
@@ -23,7 +23,7 @@ public class DriveToDistancePID extends CommandBase {
    * @param subsystem drive subsystem
    * @param distance distance to travel in inches
    */
-  public DriveToDistancePID(Drive subsystem, double distance) {
+  public DriveStraightToPositionPID(Drive subsystem, double distance) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
     m_distance = distance * DriveConstants.TICKS_PER_INCH;