refactors the code to simplify it and improve readability. The changes are as follows:
The class extends RunCommand instead of CommandBase, which simplifies the code by using a functional interface. The execute() method is replaced with a lambda function that drives the robot with a PID controller. This removes the need for an isFinished() method since the command is run continuously.
The DriveSubsystem and Gyro objects are passed as parameters to the RunCommand constructor instead of the Balance constructor. This allows for better dependency injection and decoupling of the code.
The PIDController object is now declared as a static final variable, which makes it a class-level constant and improves performance by avoiding unnecessary object creation.
The PID gains and tolerance values are now defined in the Constants class, making them easier to access and modify.
The MathUtil.clamp() method is used to limit the output of the PID controller to the specified output range, instead of checking the angle with an if statement.
Overall, the changes simplify the code and make it easier to modify and maintain.
refactors the code to simplify it and improve readability. The changes are as follows:
The class extends RunCommand instead of CommandBase, which simplifies the code by using a functional interface. The execute() method is replaced with a lambda function that drives the robot with a PID controller. This removes the need for an isFinished() method since the command is run continuously.
The DriveSubsystem and Gyro objects are passed as parameters to the RunCommand constructor instead of the Balance constructor. This allows for better dependency injection and decoupling of the code.
The PIDController object is now declared as a static final variable, which makes it a class-level constant and improves performance by avoiding unnecessary object creation.
The PID gains and tolerance values are now defined in the Constants class, making them easier to access and modify.
The MathUtil.clamp() method is used to limit the output of the PID controller to the specified output range, instead of checking the angle with an if statement.
Overall, the changes simplify the code and make it easier to modify and maintain.