Removed Output Limits, Added GotoCoordinates Command

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;
+    }
+  }
+
+}