public void DriveDistance(double distance)
{
//double position = (distance * 12) / (4 * Math.PI);
//RightPrimary.SetPosition(position);
//RightSecondary.SetPosition(position);
//LeftPrimary.SetPosition(position);
//LeftSecondary.SetPosition(position);
WPILib.Timer timer = new WPILib.Timer();
timer.Reset();
timer.Start();
while (timer.Get() < distance)
{
RightPrimary.Set(.5);
RightSecondary.Set(.5);
LeftPrimary.Set(-.5);
LeftSecondary.Set(-.5);
}
timer.Stop();
RightPrimary.Set(0);
RightSecondary.Set(0);
LeftPrimary.Set(0);
LeftSecondary.Set(0);
}
/// <summary>
/// Retunrs the change in setpoing over time of the PIDController.
/// </summary>
/// <returns>The change in setpoint over time.</returns>
public double GetDeltaSetpoint()
{
return((m_setpoint - m_prevSetpoint) / m_setpointTimer.Get());
}