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1 | package org.usfirst.frc.team3501.robot.commands.driving; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Robot; | |
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4 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
5 | import org.usfirst.frc.team3501.robot.utils.PIDController; | |
aa160dfd | 6 | |
e12d6901 | 7 | import edu.wpi.first.wpilibj.Preferences; |
aa160dfd ME |
8 | import edu.wpi.first.wpilibj.command.Command; |
9 | ||
10 | /** | |
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11 | * This command makes the robot drive a specified distance using encoders on the |
12 | * robot and using a feedback loop | |
aa160dfd | 13 | * |
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14 | * parameters: distance the robot will move in inches motorVal: the motor input |
15 | * to set the motors to | |
aa160dfd ME |
16 | */ |
17 | public class DriveDistance extends Command { | |
e12d6901 | 18 | private DriveTrain driveTrain = Robot.getDriveTrain(); |
a4ea9991 | 19 | private double maxTimeOut = 10; |
e12d6901 | 20 | private double target; |
35527abe CZ |
21 | private double zeroAngle; |
22 | private Preferences prefs; | |
23 | private PIDController driveController; | |
e12d6901 | 24 | |
35527abe | 25 | private double gyroP; |
aa160dfd | 26 | |
db326f40 | 27 | public DriveDistance(double distance, double maxTimeOut) { |
9b35aa55 | 28 | requires(driveTrain); |
174f415c | 29 | this.target = distance; |
d3ed4499 | 30 | |
9ffd117a E |
31 | this.driveController = driveTrain.getDriveController(); |
32 | this.driveController.setDoneRange(0.5); | |
e8b102d5 | 33 | this.driveController.setMaxOutput(1.1); |
e12d6901 | 34 | this.driveController.setMinDoneCycles(5); |
d17d868d | 35 | } |
36 | ||
d17d868d | 37 | @Override |
38 | protected void initialize() { | |
e12d6901 | 39 | this.driveTrain.resetEncoders(); |
e12d6901 | 40 | this.driveController.setSetPoint(this.target); |
d17d868d | 41 | } |
42 | ||
d17d868d | 43 | @Override |
44 | protected void execute() { | |
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45 | double xVal = gyroP * (driveTrain.getAngle() - zeroAngle); |
46 | double yVal = driveController.calcPID(driveTrain.getAvgEncoderDistance()); | |
e12d6901 | 47 | |
8e4c083c CZ |
48 | double leftDrive = yVal - xVal; |
49 | double rightDrive = yVal + xVal; | |
e12d6901 | 50 | this.driveTrain.setMotorValues(leftDrive, rightDrive); |
d17d868d | 51 | } |
52 | ||
d17d868d | 53 | @Override |
54 | protected boolean isFinished() { | |
35527abe CZ |
55 | return timeSinceInitialized() >= maxTimeOut |
56 | || this.driveController.isDone(); | |
d17d868d | 57 | } |
58 | ||
d17d868d | 59 | @Override |
60 | protected void end() { | |
61 | } | |
62 | ||
d17d868d | 63 | @Override |
64 | protected void interrupted() { | |
e12d6901 | 65 | end(); |
d17d868d | 66 | } |
aa160dfd | 67 | } |