[cstelter]

OK-- so my first reply talks to how to sequence commands.

The second reply talks about how to set it up to strafe as the original post also asked.

But I just reread the most recent post and this is asking how to sequence after a pid movement.

In your pidClass you can add a method called onTarget() which returns true when the PID has reached its target.

class PDLoop {
...
public boolean isOnTarget() {
    if(Math.abs(source.pidGet() - m_controller.getSetpoint()) < 1) {
         //within one inch, be done
         return true;
    }
}

You could also disable when you return true too.

Also you may wish to see isOnTarget()==true for say 5 periods or longer to be sure you don't sample as it is overshooting.

Or you could wait until you are both onTarget and the encoder's rate is 0;

Above I provided a way to sequence commands through a simple state counter. I used time for the classe DriveForTime(). DriveForDistance might look something like

class xxxx extends IterativeRobot {
   ...

   private class DriveForDistance {

       boolean m_firstTimeThrougRun=true;
       double m_distance;

       public DriveForDistance (double distance)
       {
            m_distance=distance;
       }
  
       public void runPeriodic()
       {
            if(m_firstTimeThroughRun) {
                PDLoop.driveForDistance(m_distance);
            }
            if(PDLoop.isOnTarget() && Math.abs(drivetrain.encoder.getRate()) < 0.1) {
                m_state++;               
            }
        }
   }

   DriveForDistance driveNinetyInches;

   public void autonomousInit() {
       driveNinetyInches=new DriveForDistance(90);
       ...
   }

autonomousPeriodic()
{
    //sequencing to drive forward at half power for 2s, turn left for one second and then backup at 80% power for 5s, and lift the forks at half power for 2s.

   if(m_state==0) {
        driveNinetyInches.runPeriodic();
   } else if (m_state==1) {
        turnLeftOneSecond.runPeriodic();
   } else if (m_state==2) {
        backupFiveSeconds.runPeriodic();
   } else if (m_state==3) {
        liftTwoSeconds.runPeriodic();
   }
}