| 1 | package org.usfirst.frc.team3501.robot.commands.driving; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | import org.usfirst.frc.team3501.robot.Robot; |
| 5 | |
| 6 | import edu.wpi.first.wpilibj.command.Command; |
| 7 | |
| 8 | /*** |
| 9 | * This command will drive the drivetrain a certain distance in inches |
| 10 | * |
| 11 | * @param distance |
| 12 | * is the distance we want to drive |
| 13 | * maxTimeOut is a catch just in case the robot malfunctions and never |
| 14 | * gets to the setpoint |
| 15 | * |
| 16 | * @code |
| 17 | * Repeatedly updates the driveTrain setpoint |
| 18 | * Finishes when the time goes over maxTimeOut or the driveTrain hits the |
| 19 | * setpoint |
| 20 | * end() disables the PID driveTrain |
| 21 | */ |
| 22 | public class DriveDistance extends Command { |
| 23 | private double maxTimeOut; |
| 24 | double distance; |
| 25 | int count = 0; |
| 26 | |
| 27 | public DriveDistance(double distance, double maxTimeOut) { |
| 28 | requires(Robot.driveTrain); |
| 29 | this.maxTimeOut = maxTimeOut; |
| 30 | this.distance = distance; |
| 31 | } |
| 32 | |
| 33 | @Override |
| 34 | protected void initialize() { |
| 35 | Robot.driveTrain.resetEncoders(); |
| 36 | } |
| 37 | |
| 38 | @Override |
| 39 | protected void execute() { |
| 40 | Robot.driveTrain.driveDistance(distance, maxTimeOut); |
| 41 | |
| 42 | } |
| 43 | |
| 44 | @Override |
| 45 | protected boolean isFinished() { |
| 46 | if (timeSinceInitialized() >= maxTimeOut |
| 47 | || Robot.driveTrain |
| 48 | .reachedTarget() || Robot.driveTrain.getError() < 1) { |
| 49 | System.out.println("time: " + timeSinceInitialized()); |
| 50 | Constants.DriveTrain.time = timeSinceInitialized(); |
| 51 | return true; |
| 52 | } |
| 53 | return false; |
| 54 | } |
| 55 | |
| 56 | @Override |
| 57 | protected void end() { |
| 58 | Robot.driveTrain.disable(); |
| 59 | } |
| 60 | |
| 61 | @Override |
| 62 | protected void interrupted() { |
| 63 | } |
| 64 | } |