tweak auton middle gear command group

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / driving / DriveDistance.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
index bdd5a69adb91f9df52936622a45ca2aacaf72c27..582cd80b69abb799a89a7b3afdcd56432d22a738 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
@@ -31,14 +31,13 @@ public class DriveDistance extends Command {
     requires(driveTrain);
     this.maxTimeOut = maxTimeOut;
     this.target = distance;
-    this.zeroAngle = driveTrain.getAngle();
 
     this.driveP = driveTrain.driveP;
     this.driveI = driveTrain.driveI;
     this.driveD = driveTrain.driveD;
     this.gyroP = driveTrain.driveStraightGyroP;
     this.driveController = new PIDController(driveP, driveI, driveD);
-    this.driveController.setDoneRange(0.5);
+    this.driveController.setDoneRange(1.0);
     this.driveController.setMaxOutput(1.0);
     this.driveController.setMinDoneCycles(5);
   }
@@ -47,6 +46,7 @@ public class DriveDistance extends Command {
   protected void initialize() {
     this.driveTrain.resetEncoders();
     this.driveController.setSetPoint(this.target);
+    this.zeroAngle = driveTrain.getAngle();
   }
 
   @Override