More updates to AutoMoveTo

Author: MysteryPig

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/AutoMoveTo.java

@@ -9,7 +9,7 @@
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
- *
+ * The AutoMoveTo command, which makes the robot go through a set of movements and rotations.
  */
 public class AutoMoveTo extends CommandGroup {
 
@@ -29,33 +29,17 @@ public AutoMoveTo(String[] args) {
     			pointparts = parentheseless.split(",");
     			point[0] = Double.parseDouble(pointparts[0]);
     			point[1] = Double.parseDouble(pointparts[1]);
-    			addSequential(new PIDTurn(Math.toDegrees(Math.atan((point[0] - AutoUtils.getX())/(point[1] - AutoUtils.getY())) - AutoUtils.getRot()), Robot.dt, Robot.dt.getGyro()));
-    			addSequential(new PIDMove(Math.sqrt(((point[0] - AutoUtils.getX()) * (point[0] - AutoUtils.getX()) + ((point[1] - AutoUtils.getY()) * (point[1] - AutoUtils.getY())))), Robot.dt, new PIDSourceAverage(null, null)));
+    			addSequential(new PIDTurn(Math.toDegrees(Math.atan((point[0] - AutoUtils.getX())/(point[1] - AutoUtils.getY())) - AutoUtils.getRot()), 
+    					Robot.dt, Robot.dt.getGyro()));
+    			addSequential(new PIDMove(Math.sqrt(((point[0] - AutoUtils.getX()) * (point[0] - AutoUtils.getX()) + 
+    					((point[1] - AutoUtils.getY()) * (point[1] - AutoUtils.getY())))), 
+    					Robot.dt, new PIDSourceAverage(null, null)));
     			AutoUtils.setX(point[0]);
     			AutoUtils.setY(point[1]);
     			AutoUtils.setRot(Math.toDegrees(Math.atan((point[0] - AutoUtils.getX())/(point[1] - AutoUtils.getY()))));
     		} else {	
     			throw new IllegalArgumentException();
     		}
     	}
-    	
-    	
-    	
-    	// Add Commands here:
-        // e.g. addSequential(new Command1());
-        //      addSequential(new Command2());
-        // these will run in order.
-
-        // To run multiple commands at the same time,
-        // use addParallel()
-        // e.g. addParallel(new Command1());
-        //      addSequential(new Command2());
-        // Command1 and Command2 will run in parallel.
-
-        // A command group will require all of the subsystems that each member
-        // would require.
-        // e.g. if Command1 requires chassis, and Command2 requires arm,
-        // a CommandGroup containing them would require both the chassis and the
-        // arm.
     }
 }

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Drivetrain.java

@@ -233,7 +233,6 @@ public void shiftGearSolenoidOff() {
 		dtGear.set(DoubleSolenoid.Value.kOff);
 	}
 	/**
-	 * Returns the gyroscope
 	 * @return the gyroscope
 	 */
 	public AHRS getGyro() {