Drive with Time command complete

[IshanBaliyan]

Tested and completed driving with distance at any speed.

[Zinka010]

So it seems mostly ok with a few minor tweaks, though in the nicest way possible, why is it so complicated?

[georgetzavelas]

You did a lot of great work here Ishan! I think there is some great opportunities here to refactor this to simply it without loosing your logic. I left you some suggestions.

[georgetzavelas]

You should also rebase before making your changes.

[nicojopr]

You should look at latest on master as there is a DriveBase2020 so I'm not sure which is being used v.s. Pre2020 and plain DriveBase. Master is no longer compatible with the older bots.

Also, there are still merge conflicts to resolve

[IshanBaliyan]

You should look at latest on master as there is a DriveBase2020 so I'm not sure which is being used v.s. Pre2020 and plain DriveBase. Master is no longer compatible with the older bots.

Also, there are still merge conflicts to resolve

Yes, I changed some code to work with the new drivebase but it needs to be tested with the new robot before I push it.

[georgetzavelas]

Any reason this got closed?

[IshanBaliyan]

Sorry, will reopen. Must have closed by accident.

[Zinka010]

So I'll approve this for now but I need you to understand that there are much better ways of doing drive straight commands since CTRE gives us so many great tools. I'd really like it if someone could get something like this for North Bay https://github.com/CrossTheRoadElec/Phoenix-Examples-Languages/blob/master/Java%20General/DriveStraight_AuxPigeon/src/main/java/frc/robot/Robot.java.

What you're doing, while functional I'm sure is just running for a set amount of encoder ticks then stopping. As a next step, we can use the PigeonIMU to ensure we are keeping straight throughout this movement. The robot characterization tool is great for getting PID values for this, though note we'd NEED someone to come to a practice field or Entrust to do it.

[IshanBaliyan]

So I'll approve this for now but I need you to understand that there are much better ways of doing drive straight commands since CTRE gives us so many great tools. I'd really like it if someone could get something like this for North Bay https://github.com/CrossTheRoadElec/Phoenix-Examples-Languages/blob/master/Java%20General/DriveStraight_AuxPigeon/src/main/java/frc/robot/Robot.java.

What you're doing, while functional I'm sure is just running for a set amount of encoder ticks then stopping. As a next step, we can use the PigeonIMU to ensure we are keeping straight throughout this movement. The robot characterization tool is great for getting PID values for this, though note we'd NEED someone to come to a practice field or Entrust to do it.

I will work on that for North Bay