Thread: Running two commands at once, but both commands use the same motors.
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Unread 03-12-2014, 13:37
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Alumni of Team 2053 Tigertronics
AKA: Drew Williams
FRC #2053 (TigerTronics)
Team Role: Programmer
  
Join Date: Jan 2014
Rookie Year: 2013
Location: Vestal, NY
Posts: 195
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Exclamation Running two commands at once, but both commands use the same motors.
We are doing a field oriented drive system on our robot this year and have been coding the IMU and other commands for field oriented driving. One of these commands is a RotateToAngle command. When you press a button on the controller it will rotate back to zero (or whatever you pass into it). This works fine when in a separate command, but when you run the command, you can't drive normally while it is rotating.

My question is: Is there a way you can run both commands in parallel but able to drive forward and rotate to zero at the same time. Would a command group work? Would I have to implement the rotate to angle command into the driveCommand file?

Thanks,
Team 2053
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