Running two commands at once, but both commands use the same motors.

[jreneew2]

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