functions for auto

[curtis0gj]

Originally Posted by Arhowk

FYI you can build them to search for syntax errors... like this

	private static void wait(Robot r, double waittime) {
		while (true) {
			if (!.risAutonomous() || !r.isEnabled()) return;
			r.Timer.delay(waittime); //r or just timer?
			return;
		}
		private static void reset(Robot r) {

missing a } and i assume you mean ""!r.is..." not "!.ris..." (also, its just Timer.delay)

passing in Robot for everything is ugh-ly. just make Robot a singleton... or use a static initializer

			while (true) {
				double distance = r.encoder.get();
				double angle = r.gyro.getAngle();
				if (!r.isAutonomous() || !r.isEnabled()) return;
				r.robot.drive(-0.25, angle * r.Kp);
				//r.robot.drive(-0.40, 0);
				if (distance < -d) {
					reset(r);
					return;
				}
			}

the closed loop structure of this will hurt the robot, periodic ms timers are necessary

r.robot.drive(-.40, -1)

not Java-standard formatting

				Boolean maxarmlimit = r.limit4.get();

capital boolean (also that name scheme is bad, both on the variable and the limit)

					r.armmotor.set(Defines.ARM_SPEED);
					r.leftarmwheel.set(Relay.Value.kForward);
					r.rightarmwheel.set(Relay.Value.kReverse);

non-standard formatting (camelcase, descriptive names)

				if (angle > deg) {

comparing a double and an int

				r.robot.drive(-.40, -1);

constant loop? atleast a P loop, preferably PID

your "turn" and "turn2" functions are quite ineffective, basic angle averaging schemes should be used

other than that I'm losing my focus, but there are alot more issues

Alright thanks I am going to make those changes.