nchvmn

src/main/java/frc/robot/commands/ResetGyro.java

@@ -0,0 +1,38 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+
+public class ResetGyro extends CommandBase {
+  private BasePilotable basePilotable;
+  /** Creates a new ResetGero. */
+  public ResetGyro(BasePilotable basePilotable) {
+    basePilotable = new BasePilotable();
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    basePilotable.resetgyro();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/BasePilotable.java

@@ -30,6 +30,9 @@ public double getangle() {
 }
 public void drive(double y, double x, double rot){
   mecanum.driveCartesian(y, rot, x, -getangle());
+}
+public void resetgyro(){
+gyroscope.reset();
 }
   /** Creates a new BasePilotable. */
   public BasePilotable() {