Autonomous Help

[curtis0gj]

Originally Posted by curtis0gj

Hey all, newbie programmer here looking for some help with my autonomous code. At the moment I need to be able to turn 90 on the spot using a gyro stop and drive straight also using a gyro and encoder for distance.

public void autonomous() {
    	
    	while(isAutonomous() && isEnabled())  {
    		
    		SmartDashboard.putNumber("angle", gyro1.getAngle());
    		
    		double angle = gyro1.getAngle();
    		
    		robot.drive(-0.20, 1);
    		
    		if(angle > 83) {
    			
    			robot.drive(0,0);
    			
    			break;

The issue I have is the robot won't stop turning . I need a basic tutorial on setting up an encoder for distance. Also if anyone could show me how I could start driving straight after this turn, Thanks for the help.

I think I have solved this but I don't have a way of testing it until tomorrow, I think the issue is the double angle = gyro1.getAngle(); is in the while loop so it's just getting the angle over and over... But I still need help with setting up an encoder if anyone could help that would be great!