functions for auto

[curtis0gj]

Originally Posted by Arhowk

			chassis.arcadeDrive(-0.25, angle * Kp);

you never defined a "Kp" variable as far as I can see (which by the way is bad formatting, kP). First of all, you probably want to define a "Kp" variable.
Also, I assume you want this code to use the gyro to keep straight. In this case, you might want to add a reset() before the while(true) loop to ensure the gyro is 0.

				turn(90); //COULD 90 OR 180!

If you don't want to deal with the ambiguous, do the same as above and throw a reset() before the while(true) loop in your turn() function. This way, turn(90) will always turn right 90 degrees, it won't depend on the previous angle.

in Robot.java

		Auto.run(this, autoMethod);

this is still static. Since you now have a constructor and stuff, this should be "autonManager.run...".

also in Robot.java

	public AutonManager autonManager; //PUBLIC OR DOES IT MATTER?

		autonManager = new AutonManager(this);

your class is named "Auto", not "AutonManager"

 it would be greatly appreciated I am hoping this will all work for Wednesday we are having a little show casing with other schools.

#1 rule of code - it won't. I may have quite finely-tuned intuitions, but I'm not perfect.

Your "kP" value(s?) need to be tuned, the 0.01 I gave you was just a rough estimate. For example, if it doesn't turn fast enough, than this should be increased to 0.015 or something. If it turns too fast, than it should be 0.005. If it's turning the wrong way, than it should be -0.01. (honestly, I'd probably start off with 0.035, seems like a decent starting number)

Okay for the kP I just added a double like this and I added a reset to the drive forward and turn so everything works nicely. I also got rid of the autonmanager's and changed it to Auto.

	double kP = 0.035;
	private void forwardDrive(double distanceToGo) {
		reset();
		while (true) {
			double distance = encoder.get();
			double angle = gyro.getAngle();
			if (!isAutonomous() || !isEnabled()) return;
			chassis.arcadeDrive(-0.25, angle * kP);
			//chassis.drive(-0.40, 0);
			if (distance < -distanceToGo) {
				reset();
				return;
			}
			Timer.delay(0.02);
		}
	}

But I am a bit confused with:

Auto.run(this, autoMethod);
this is still static. Since you now have a constructor and stuff, this should be "autonManager.run...".