[fireXtract]

I can enable, drive, then use the pid to setpoint my drivetrain, drive somemore but if i reenable the pid it breaks the drivetrain.

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package us.mn.k12.fairmont.robotics.subsystems;

import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import us.mn.k12.fairmont.robotics.RobotMap;
import us.mn.k12.fairmont.robotics.commands.CommandBase;
import us.mn.k12.fairmont.robotics.commands.DriveWithJoysticks;

/**
 *
 * @author Teacher
 */
public class DriveTrain extends PIDSubsystem {
    // Put methods for controlling this subsystem
    // here. Call these from Commands.

    RobotDrive drive = new RobotDrive(RobotMap.frontLeftMotor, RobotMap.rearLeftMotor, RobotMap.frontRightMotor, RobotMap.rearRightMotor);
    Encoder enc = new Encoder(RobotMap.frontRightEncA, RobotMap.frontRightEncB);
//    Timer timer = new Timer();
    
    public DriveTrain() {
        super("Drivetrain", 6, 0, 0);
        setAbsoluteTolerance(10);
        enc.start();
    }
    
    public void initDefaultCommand() {
        // Set the default command for a subsystem here.
        setDefaultCommand(new DriveWithJoysticks());
    }

    public void driveMechanum_Cartesian(double rightJoyY, double rightJoyX, double rotation) {
        drive.mecanumDrive_Cartesian((rightJoyY * -1), rotation, rightJoyX * -1, 0); // Mechanam wheel rollers should form an x when looking directaly down from the top
    }

    
    public void putPID() {
        CommandBase.table.putNumber("p", 8.0); // change it to smartdashboard getnumber tomorrow when you arent bored of deploying 
        CommandBase.table.putNumber("i", 0.0); // HOLY shoot YOU FIXED THE MOMORY LIEEK
        CommandBase.table.putNumber("d", 0.0);
    }

    public double updateStatus() {
        SmartDashboard.putNumber("Enc", enc.getRaw());
        return enc.getRaw();
    }

    public void reset() {
        enc.reset();
        reset();
    }

    public double returnPIDInput() {
        return enc.getRaw();
    }

    public void setSetpoint(int setpoint) {
        setSetpoint(setpoint);
    }

    public void getSetpoint(int setpoint) {
        getSetpoint();
    }

    public void getPosition(int position) {
        getPosition();
    }

    public void updatePID() {
        RobotMap.p = CommandBase.table.getNumber("p", 8);
        RobotMap.i = CommandBase.table.getNumber("i", 0);
        RobotMap.d = CommandBase.table.getNumber("d", 0);
        getPIDController().setPID(RobotMap.p, RobotMap.i, RobotMap.d);
    }

    public void usePIDOutput(double output) {
        driveMechanum_Cartesian(output, output, 0);
    }

    
}

package us.mn.k12.fairmont.robotics.commands;

public class DriveToDistance extends CommandBase {

    boolean go;
    double setpoint;

    /**
     * Require the drive train and store the desired setpoint.
     *
     * @param setpoint The desired setpoint for the drive train.
     */
    public DriveToDistance(boolean go, double setpoint) {
        requires(drivetrain);
        this.go = go;
        this.setpoint = setpoint;
    }

    // Called just before this Command runs the first time
    /**
     * Set the setpoint to the stored value and enable PID on the drivetrain.
     */
    protected void initialize() {
        System.out.println(this);
        if (go) {
            drivetrain.enable();
            drivetrain.setSetpoint(setpoint);
        }
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
    }

    // Make this return true when this Command no longer needs to run execute()
    /**
     * @return true when it's close enough to the setpoint
     */
    protected boolean isFinished() {
        return drivetrain.onTarget();
    }

    // Called once after isFinished returns true
    /**
     * When this command ends, disable the drivetrain's PID
     */
    protected void end() {
        System.out.println("done");
        go = false;
        drivetrain.disable();
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    /**
     * When this command exits, disable the drivetrain's PID
     */
    protected void interrupted() {
        end();
    }
}

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 * To change this template file, choose Tools | Templates
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package us.mn.k12.fairmont.robotics.commands;

/**
 *
 * @author Teacher
 */
public class DriveWithJoysticks extends CommandBase {
    
    public DriveWithJoysticks() {
        // Use requires() here to declare subsystem dependencies
        requires(drivetrain);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
        System.out.println(this);
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        drivetrain.driveMechanum_Cartesian(oi.getRightJoyY(), oi.getRightJoyX(), oi.getRightJoyR());
        
//        drivetrain.drivetest(oi.getRightJoyY(), oi.getLeftJoyY());
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return false;
    }

    // Called once after isFinished returns true
    protected void end() {
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    }
}

Does anybody see what is wrong with the code?