From ac03bd9c4018fe2b84fa04cc9ddafbd8f398ab80 Mon Sep 17 00:00:00 2001
From: PriyanshuK-ACL <1021693@lcps.org>
Date: Thu, 24 Oct 2024 09:58:54 -0400
Subject: [PATCH] Task 3 Bonus Completion

---
 src/main/java/frc/robot/commands/DriveCommands.java | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java
index e61814a..3c712a5 100644
--- a/src/main/java/frc/robot/commands/DriveCommands.java
+++ b/src/main/java/frc/robot/commands/DriveCommands.java
@@ -251,6 +251,16 @@ public static Command tankDriveCommand1(Supplier<Double>m_leftMotor, Supplier<Do
           );
             
         }
+        //Bonus
+        public static Command TurnDegrees1(double m_degrees, double m_speed){
+    XRPDrivetrain m_diffDrive= RobotContainer.m_xrpDrivetrain;
+    double inchPerDegree = Math.PI * 6.102 / 360;
+    return new FunctionalCommand(()->{m_diffDrive.tankDrive(0, 0);m_diffDrive.resetEncoders();},
+    ()->{m_diffDrive.tankDrive(0, m_speed);},
+    interrupt -> {m_diffDrive.tankDrive(0, 0);},
+  () -> {return m_diffDrive.getAverageTurningDistance() >= (inchPerDegree * m_degrees);}
+    );
+}