gyro c++ Programing

[basicxman]

Placing any sort of loop in your overridden functions (such as AutonomousPeriodic()) is discouraged.

Code off the top of my head:

// ...
float targetAngle;
int currentState;
float fowardStartTime;

const static int TURNING = 0;
const static int FORWARD = 1;
// ...
void AutonomousInit() {
  targetAngle = gyro.GetAngle() + 45.0;

  GetWatchdog().SetEnabled(true);
  GetWatchdog().SetExpiration(0.5);

  currentState = FORWARD;
}

void AutonomousPeriodic() {
  GetWatchdog().Feed();
  if (currentState == TURNING) {
    if (gyro.GetAngle() < targetAngle) {
      Turn(); // Implement this function
    } else {
       currentState = FORWARD;
       forwardStartTime = GetTime(); // Implement this function with your preferred method of time.
    }
  } else if (currentState == FORWARD) { 
    if (GetTime() < forwardStartTime + 3000)
      DriveFoward(); // Implement this function.
    else
      currentState = -1;
  }
}