Task 3 Completion

src/main/java/frc/robot/commands/DriveCommands.java

@@ -234,10 +234,22 @@ public static Command TurnDegrees (double m_degrees, double m_speed){
   //arcadeDriveCommand(rename as tankDriveCommand)
   //Bonus(optional):TurnDegrees(either class or function, choose 1)
   public static Command driveDistance1(double m_distance){
-    return driveDistance{m_distance};
-  }
-
-
+    XRPDrivetrain m_diffDrive=RobotContainer.m_xrpDrivetrain;
+
+    return new FunctionalCommand(() -> {
+        m_diffDrive.tankDrive(0,0); 
+        m_diffDrive.resetEncoders();},
+        () ->{m_diffDrive.tankDrive(1,1);},
+        interrupt -> {m_diffDrive.tankDrive(0,0);},
+        () -> {return Math.abs(m_diffDrive.getAverageDistanceInch()) >=m_distance;},m_diffDrive);
+
+        }
+        public static Command tankDriveCommand1(Supplier<Double>m_leftMotor, Supplier<Double>m_RightMotor){
+          XRPDrivetrain m_diffDrive=RobotContainer.m_xrpDrivetrain;
+          return new InstandCommand(()-> {
+            m_diffDrive.tankDrive{m_leftMotor.get(), m_rightMotor.get()}, m_diffDrive
+          }
+          );}
 
 
 

src/main/java/frc/robot/subsystems/XRPDrivetrain.java

@@ -50,7 +50,7 @@ public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
   //TODO:Task 2-Write a function that makes the robot take in a left wheel speed and a right wheel speed, and move at those speeds.
   //HINT:This is called a tank drive, maybe there is a function that can easily allow for it?
   //HINT:To see all the functions that the drivetrain has, type "m_diffDrive." without the quotes and look at the options generated by auto complete.
-  public void tankDriveCommand(double m_leftMotor, double m_rightMotor){
+  public void tankDrive(double m_leftMotor, double m_rightMotor){
     m_diffDrive.tankDrive(m_leftMotor, m_rightMotor);
 
   }