From 47d99fec52fa1059f6dfc568fb586397c4ab204b Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Fri, 27 Oct 2023 06:47:11 -0500
Subject: [PATCH] more stuff

---
 RELENTLESS/include/ary-lib/drive/drive.hpp | 6 ++++++
 RELENTLESS/src/ary-lib/drive/drive.cpp     | 4 ++++
 RELENTLESS/src/ary-lib/drive/set_pid.cpp   | 2 +-
 3 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/RELENTLESS/include/ary-lib/drive/drive.hpp b/RELENTLESS/include/ary-lib/drive/drive.hpp
index 0ad8dc3..1affc95 100644
--- a/RELENTLESS/include/ary-lib/drive/drive.hpp
+++ b/RELENTLESS/include/ary-lib/drive/drive.hpp
@@ -528,6 +528,12 @@ class Drive {
    */
   void set_drive(double target, int speed, bool slew_on = false, bool toggle_heading = true);
 
+  /*
+
+    Stops movement on the drivetrain
+  */
+  void stop_drive(Drive& chassis);
+
   /**
    * Drives the robot forward using a trapezoidal motional profile
    * 
diff --git a/RELENTLESS/src/ary-lib/drive/drive.cpp b/RELENTLESS/src/ary-lib/drive/drive.cpp
index c667f28..87c0bae 100644
--- a/RELENTLESS/src/ary-lib/drive/drive.cpp
+++ b/RELENTLESS/src/ary-lib/drive/drive.cpp
@@ -288,6 +288,10 @@ void Drive::imu_loading_display(int iter) {
   }
 }
 
+void Drive::stop_drive(Drive& chassis) {
+  chassis.set_tank(0, 0);
+}
+
 bool Drive::imu_calibrate(bool run_loading_animation) {
   imu.reset();
   int iter = 0;
diff --git a/RELENTLESS/src/ary-lib/drive/set_pid.cpp b/RELENTLESS/src/ary-lib/drive/set_pid.cpp
index c791540..cddc0a9 100644
--- a/RELENTLESS/src/ary-lib/drive/set_pid.cpp
+++ b/RELENTLESS/src/ary-lib/drive/set_pid.cpp
@@ -129,7 +129,7 @@ void set_profiled_drive(Drive& chassis, double target, int endTimeout) {
     pros::delay(10);
   }
   
-  chassis.set_tank(0, 0);
+  chassis.set_tank(0, 0); // Stop the drive
   chassis.set_drive_brake(MOTOR_BRAKE_BRAKE);
   pros::delay(endTimeout);