Motion magic path

[ShadiShakkour]

Is there a way to check if motion magic has reached its set way point like a method?
If(Talon1.hasReachedsetPoint()){
New point
}
Is there another way to do such thing or
Is there a better way to do such thing

#7079

[ericjanofski]

You can create a tolerance variable, then in a method check if the targetPosition - currentPosition < tolerance

public boolean hasReachedSetpoint() {
  double tolerance = 100;
  double error = Math.abs(targetPosition - currentPosition);
  return (error < tolerance);
}

We have something like this in our code this year, but we didn’t actually use it. Line 309:
https://github.com/team6637/Robot2019/blob/master/src/main/java/frc/robot/subsystems/Lift.java