add ability to set idle turn direction

Author: CoolSpy3

src/main/java/frc/robot/lib/Limelight.java

@@ -41,6 +41,8 @@ public enum Mode {
     // Mounting angle is the angle of the limelight (angled up = +, angled down = -)
     private double mountingAngleDeg;
 
+    private TurnDirection idleTurnDirection = TurnDirection.CW;
+
     private PIDController pidController;
     private boolean newPIDLoop = false;
     public Limelight(){
@@ -146,7 +148,7 @@ public double steeringAssist() {
         } else {
             newPIDLoop = false;
             pidController.reset();
-            adjustment = Math.copySign(config.steeringFactor, prev_txDeg);
+            adjustment = Math.copySign(config.steeringFactor, idleTurnDirection.sign);
         }
 
         adjustment = Math.copySign(Math.min(Math.abs(adjustment), config.maxSteeringAdjustment), txDeg);
@@ -172,6 +174,14 @@ public PIDController getPIDController() {
     public void putValue(String valueName, double value){
       SmartDashboard.putNumber("Limelight("+ config.ntName + "), (" + valueName + ")", value);
     }
+
+    public TurnDirection getIdleTurnDirection() {
+        return idleTurnDirection;
+    }
+
+    public void setIdleTurnDirection(TurnDirection direction) {
+        idleTurnDirection = direction;
+    }
 
     public static class Config {
       /**
@@ -207,4 +217,14 @@ public static class Config {
        */
       public double kP = 0.225;
     }
+
+    public static enum TurnDirection {
+        CW(-1), CCW(+1);
+
+        public final int sign;
+
+        private TurnDirection(int sign) {
+            this.sign = sign;
+        }
+    }
 }