@@ -0,0 +1,1309 @@
+package org.usfirst.frc.team4342.robot.commands.auton;%0A%0Aimport org.usfirst.frc.team4342.robot.subsystems.TankDrive;%0A%0Aimport edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;%0A%0A/**%0A * Auton command to orient the robot to the boiler using %0A * the calculated adjusted yaw using a Raspberry Pi 3%0A * and a USB Camera%0A */%0Apublic class OrientToBoiler extends AutonomousCommand %0A%7B%0A%09private TankDrive drive;%0A%09%0A%09/**%0A%09 * Creates a new %3Ccode%3EOrientToBoiler%3C/code%3E command%0A%09 * @param drive the %3Ccode%3ETankDrive%3C/code%3E subsystem%0A%09 */%0A%09public OrientToBoiler(TankDrive drive)%0A%09%7B%0A%09%09this.drive = drive;%0A%09%7D%0A%0A%09/**%0A%09 * Gets the calculated boiler yaw from the pi and sets%0A%09 * the robot's heading to it. If the boiler yaw is not%0A%09 * in the SmartDashboard it keeps its current heading%0A%09 */%0A%09@Override%0A%09protected void initialize() %0A%09%7B%0A%09%09double boilerYaw = SmartDashboard.getNumber(%22Boiler-Yaw%22, drive.getHeading());%0A%09%09drive.setHeading(boilerYaw);%0A%09%7D%0A%09%0A%09/**%0A%09 * Stops the drive motors%0A%09 */%0A%09@Override%0A%09protected void end() %0A%09%7B%0A%09%09drive.disablePID();%0A%09%09drive.set(0, 0);%0A%09%7D%0A%09%0A%09/**%0A%09 * Gets if the robot is oriented towards the boiler%0A%09 * @return true if properly oriented, false otherwise%0A%09 */%0A%09@Override%0A%09protected boolean isFinished() %0A%09%7B%0A%09%09return drive.onTarget();%0A%09%7D%0A%09%0A%09/** %7B@inheritDoc%7D */%0A%09@Override%0A%09protected void execute() %7B%7D%0A%7D%0A

add class I forgot to commit