@@ -0,0 +1,1216 @@
+package org.team2168.commands;%0A%0Aimport org.team2168.RobotMap;%0Aimport org.team2168.subsystems.*;%0A%0Aimport edu.wpi.first.wpilibj.Gyro;%0A%0Apublic class RotateDrivetrain extends CommandBase%7B%0A%0A%09Gyro rotateGyro;%0A%09double startAngle;%0A%09double angle;%0A%09double endAngle;%0A%09Drivetrain driveTrain;%0A%09%0A%09public RotateDrivetrain (double angle)%7B%0A%09%09this.angle = angle;%0A%09%7D%0A%0A%09%0A%09@Override%0A%09protected void end() %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09%0A%09%7D%0A%0A%09@Override%0A%09protected void execute() %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09%0A%09%09if(startAngle %3C endAngle)%0A%09%09%7B%0A%09%09%09while(startAngle %3C endAngle)%0A%09%09%09%7B%0A%09%09%09%09%0A%09%09%09%09driveTrain.drive(0, 6);%0A%09%09%09%09%0A%09%09%09%09startAngle = rotateGyro.getAngle();%0A%09%09%09%7D%0A%09%09%7Delse%0A%09%09%7B%0A%09%09%09while(startAngle %3E endAngle)%0A%09%09%09%7B%0A%09%09%09%09driveTrain.drive(6, 0);%09%09%0A%09%09%09%09startAngle = rotateGyro.getAngle();%0A%09%09%09%7D%0A%09%09%7D%0A%09%09%0A%09%09driveTrain.drive(0, 0);%0A%09%09%0A%09%7D%0A%0A%09@Override%0A%09protected void initialize() %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09rotateGyro = new Gyro(RobotMap.rotateGyro);%0A%09%09startAngle = rotateGyro.getAngle();%0A%09%09endAngle = startAngle + angle;%0A%09%7D%0A%0A%09@Override%0A%09protected void interrupted() %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09%0A%09%7D%0A%0A%09@Override%0A%09protected boolean isFinished() %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09return false;%0A%09%7D%0A%0A%7D%0A

Create RotateDrive.java