Removed Output Limits, Added GotoCoordinates Command

src/main/java/frc4388/robot/Constants.java

@@ -40,7 +40,7 @@ public final class Constants {
         public static final double OPEN_LOOP_RAMP_RATE = 0.1; // Seconds from 0 to full power on motor
         public static final double NEUTRAL_DEADBAND = 0.04;
         public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG =
-            new SupplyCurrentLimitConfiguration(false, 40, 35, 0.01);
+            new SupplyCurrentLimitConfiguration(false, 60, 40, 2);
         public static final int CLOSED_LOOP_TIME_MS = 1; // Higher numbers mean slower control loops
 
         /* Drive Train Characteristics */

src/main/java/frc4388/robot/RobotContainer.java

@@ -33,6 +33,7 @@ import frc4388.robot.commands.DriveStraightAtVelocityPID;
 import frc4388.robot.commands.DriveStraightToPositionMM;
 import frc4388.robot.commands.DriveStraightToPositionPID;
 import frc4388.robot.commands.DriveWithJoystick;
+import frc4388.robot.commands.GotoCoordinates;
 import frc4388.robot.commands.RunClimberWithTriggers;
 import frc4388.robot.commands.RunExtenderOutIn;
 import frc4388.robot.commands.RunIntakeWithTriggers;
@@ -116,7 +117,7 @@ public class RobotContainer {
         /* Test Buttons */
         // A driver test button
         new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-            .whenPressed(new DriveStraightToPositionMM(m_robotDrive, -192));
+            .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 192));
         
         // B driver test button
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -124,7 +125,7 @@ public class RobotContainer {
 
         // Y driver test button
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
-            .whenPressed(new DrivePositionMPAux(m_robotDrive, 12.0, 3.0, 1, 36.0));
+            .whenPressed(new GotoCoordinates(m_robotDrive, 12, 40));
 
         // X driver test button
         new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)

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

@@ -60,19 +60,22 @@ public class DriveWithJoystick extends CommandBase {
     }
     double tempOutputLimit = 0.8;
 
-    if (moveOutput > tempOutputLimit) {
-      moveOutput = tempOutputLimit;
-    } else if(moveOutput < -tempOutputLimit) {
-      moveOutput = -tempOutputLimit;
-    }
+    boolean isOutputLimited = false;
 
-    if (steerOutput > tempOutputLimit) {
-      steerOutput = tempOutputLimit;
-    } else if(steerOutput < -tempOutputLimit) {
-      steerOutput = -tempOutputLimit;
-    }
+    if (isOutputLimited) {
+      if (moveOutput > tempOutputLimit) {
+        moveOutput = tempOutputLimit;
+      } else if(moveOutput < -tempOutputLimit) {
+        moveOutput = -tempOutputLimit;
+      }
 
-    SmartDashboard.putNumber("Steer Output Test", moveOutput);
+      if (steerOutput > tempOutputLimit) {
+        steerOutput = tempOutputLimit;
+      } else if(steerOutput < -tempOutputLimit) {
+        steerOutput = -tempOutputLimit;
+      }
+    }
+    
     m_drive.driveWithInput(moveOutput, steerOutput);
   }
 

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

@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* 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.SequentialCommandGroup;
+import frc4388.robot.subsystems.Drive;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
+public class GotoCoordinates extends SequentialCommandGroup {
+  Drive m_drive;
+
+  double m_xTarget;
+  double m_yTarget;
+  double m_currentAngle;
+  double m_hypotDist;
+
+  double m_lastAngle;
+
+  /**
+   * Creates a new GotoPosition.
+   */
+  public GotoCoordinates(Drive subsystem, double xTarget, double yTarget) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    m_drive = subsystem;
+
+    m_xTarget = xTarget;
+    m_yTarget = yTarget;
+
+    m_hypotDist = Math.sqrt((m_xTarget*m_xTarget) + (m_yTarget*m_yTarget));
+
+    m_currentAngle = calcAngle();
+
+
+    addCommands(new TurnDegrees(m_drive, m_currentAngle), new DriveStraightToPositionMM(m_drive, m_hypotDist));
+  }
+
+  public boolean isQuadrantThree() {
+    if ((m_xTarget < 0) && (m_yTarget < 0)) {
+      return true;
+    } else {
+      return false;
+    }
+  }
+
+  public double calcAngle() {
+    if (isQuadrantThree()) {
+      return 360 + (Math.atan2(m_yTarget, m_xTarget) * (180 / Math.PI)) - 90;
+    } else {
+      return (Math.atan2(m_yTarget, m_xTarget) * (180 / Math.PI)) - 90;
+    }
+  }
+
+}

src/main/java/frc4388/robot/subsystems/Drive.java

@@ -88,6 +88,7 @@ public class Drive extends SubsystemBase {
   public double m_lastAngleYaw = 0;
   public double m_currentAngleYaw = 0;
 
+  public double m_lastAngleGotoCoordinates;
   /* Smart Dashboard Objects */
   SendableChooser<String> m_songChooser = new SendableChooser<String>();
   
@@ -726,6 +727,12 @@ public class Drive extends SubsystemBase {
       //SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
       //SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
 
+      double leftRPM = m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity();
+      double rightRPM = m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity();
+
+      SmartDashboard.putNumber("Left Motor RPM", leftRPM);
+      SmartDashboard.putNumber("Right Motor RPM", rightRPM);
+
       //SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
       //SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
       //SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());