[curtis0gj]

Originally Posted by Arhowk

yeah thats fine. If you don't want to put r in front of everything, you can either

1) rename r to robot (atleast it looks more professional...)
2)

public class Auto {
	
	static Robot r
        static RobotDrive drive
        static DigitalInput upperLimitSwitch
        //and so on for other stuff
	public static void setRobot(Robot rob) {
		r = rob;
                drive = r.drive;
                upperLimitSwitch = r.limit4;
	}

Also I was wondering how I can call the new turn function you showed me do I just call turn(r, deg that I want to turn???); And you also said there was an ugly block in robot will it be an issue?

      public void autonomous() {
          autoMethod = (Defines.Autos) autoChooser.getSelected();
          Auto.run(this, autoMethod);
          if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_BLUE_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_MOVE_TO_ZONE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_BLUE_SIDE) {
               return;
          }
}

	public static void angleError(double setpointDegressZeroToThreeSixty, double experimentalDegrees) {
		double err = setpointDegressZeroToThreeSixty - experimentalDegrees; // 0 TO 360!
		if(err < -180) {
			err += 360;
		} else if(err > 180) {
			err -= 360;
		}
		return err;
	}
	
	double kp_rotate = 0.01;
	double MAX_ERROR = 5;
	
	public static void turn(Robot r, double deg) {
		while(true) {
			double deltaAngle = angleError(deg, gyro.getAngle());
			if(Math.abs(deg - deltaAngle) < MAX_ERROR) {
				break;
			} else {
				r.robot.drive(0, deltaAngle * kp_rotate);
			}
			Timer.delay(0.02);
		}
	}

https://github.com/curtis0gj/5033-2014-15