Turn Degrees command works, Keenan did work on Dead Assist Control Mode

src/main/java/frc4388/robot/commands/TurnDegrees.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;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+
+public class TurnDegrees extends CommandBase {
+
+  double m_targetAngle;
+  Drive m_drive;
+  double m_currentYawInTicks;
+  double m_targetAngleTicksIn;
+  double m_targetAngleTicksOut;
+  int i;
+
+  /**
+   * Creates a new TurnDeg.
+   */
+  public TurnDegrees(double targetAngle, Drive subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+
+    m_targetAngle = targetAngle;
+    m_drive = subsystem;
+
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_targetAngleTicksIn = (m_targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
+    m_currentYawInTicks = (m_drive.getGyroYaw() / 360) * DriveConstants.TICKS_PER_GYRO_REV;
+    m_targetAngleTicksOut = m_targetAngleTicksIn + m_currentYawInTicks;
+
+    i = 0;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_currentYawInTicks = (m_drive.getGyroYaw() / 360) * DriveConstants.TICKS_PER_GYRO_REV;
+
+    m_drive.runTurningPID(m_targetAngleTicksOut);
+
+    SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
+    SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);
+
+    i++;
+  }
+
+  // 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.getTurnRate()) < 1) && (i > 5)) {
+      return true;
+    }
+    return false;
+  }
+}
+