@@ -0,0 +1,2075 @@
+package com.edinarobotics.zeke.commands;%0A%0Aimport com.edinarobotics.zeke.Components;%0Aimport com.edinarobotics.zeke.subsystems.Drivetrain;%0Aimport com.edinarobotics.zeke.subsystems.DrivetrainRotation;%0Aimport com.edinarobotics.zeke.subsystems.DrivetrainStrafe;%0Aimport edu.wpi.first.wpilibj.DriverStation;%0Aimport edu.wpi.first.wpilibj.command.Command;%0A%0Apublic class DriveXDistanceCommandNoPID extends Command %7B%0A    private Drivetrain drivetrain;%0A    private DrivetrainStrafe drivetrainStrafe;%0A    private DrivetrainRotation drivetrainRotation;%0A    private double distanceThreshold;%0A    private double speed;%0A    private boolean isForward;%0A    %0A    public DriveXDistanceCommandNoPID(double distanceThreshold, double speed, boolean isForward) %7B%0A        super(%22DriveXDistanceCommand%22);%0A        this.drivetrain = Components.getInstance().drivetrain;%0A        this.drivetrainStrafe = Components.getInstance().drivetrainStrafe;%0A        this.drivetrainRotation = Components.getInstance().drivetrainRotation;%0A        this.distanceThreshold = distanceThreshold;%0A        this.speed = speed;%0A        this.isForward = isForward;%0A        requires(drivetrainStrafe);%0A        requires(drivetrainRotation);%0A    %7D%0A    %0A    protected void initialize() %7B%0A        drivetrainStrafe.setMecanumPolarStrafe(speed, isForward ? 90.0 : 270.0);%0A        drivetrainRotation.setMecanumPolarRotate(0.0);%0A    %7D%0A%0A    protected void execute() %7B%0A        speed = DriverStation.getInstance().getAnalogIn(1);%0A        drivetrainStrafe.setMecanumPolarStrafe(speed, isForward ? 90.0 : 270.0);%0A        drivetrainRotation.setMecanumPolarRotate(0.0);%0A    %7D%0A%0A    protected boolean isFinished() %7B%0A        if(isForward) %7B%0A            return drivetrain.getUltrasonicSensor().getDistance() %3C distanceThreshold;%0A        %7D else %7B%0A            return drivetrain.getUltrasonicSensor().getDistance() %3E distanceThreshold;%0A        %7D%0A    %7D%0A%0A    protected void end() %7B%0A        drivetrainStrafe.setMecanumPolarStrafe(0, 0);%0A        drivetrainRotation.setMecanumPolarRotate(0);%0A    %7D%0A%0A    protected void interrupted() %7B%0A        end();%0A    %7D%0A%7D%0A

Add DriveXDistanceCommandNoPID to the project.