[curtis0gj]

Originally Posted by Arhowk

0.25 is INCREDIBLY slow, it probably could be ~0.6-0.7.


Only? As in, it measures distance instead of displacement? That would be bad. I'm assuming you just have your encoder mounted backwards, in which case you can just say

double encoder = -encoder.get();

or smth.



Can't say with any idea since I have no access to your robot

Well I bumped up the speeds to .6 but I don't know about the encoder.

I had a question with this whole function and I was wondering if it's necessary to have distanceToGo negative when I can just say it's negative when I am calling up the function. Also should I have it double -distanceToGo in the parameters?

And when I call the function forwardDrive(should it be 3000 or -3000)

Also when is it appropriate to use return; and when should I use break; when I look at my code it seems as I use break and return randomly. https://github.com/curtis0gj/5033-20...ster/Auto.java

	double kP = 0.035;
	private void forwardDrive(double distanceToGo) {
		reset();
		while (true) {
			double distance = encoder.get();
			double angle = gyro.getAngle();
			if (!robot.isAutonomous() || !robot.isEnabled()) return;
			chassis.arcadeDrive(-0.60, angle * kP);
			if (distance < -distanceToGo) {
				reset();
				return;
			}
			Timer.delay(0.02);
		}
	}