| 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 | * @param angle |
| 10 | * is the setpoint we want to turn for |
| 11 | * maxTimeOut catch just in case robot malfunctions and never reaches |
| 12 | * setpoint |
| 13 | * @initialize resets the Gyro and prints the current mode |
| 14 | * @code repeatedly sets a new setpoint angle to the motor |
| 15 | * @end ends when the setpoint is reached. |
| 16 | */ |
| 17 | public class TurnForAngle extends Command { |
| 18 | private double maxTimeOut; |
| 19 | double angle; |
| 20 | |
| 21 | public TurnForAngle(double angle, double maxTimeOut) { |
| 22 | requires(Robot.driveTrain); |
| 23 | this.maxTimeOut = maxTimeOut; |
| 24 | this.angle = angle; |
| 25 | } |
| 26 | |
| 27 | @Override |
| 28 | protected void initialize() { |
| 29 | Robot.driveTrain.resetGyro(); |
| 30 | System.out.println(Robot.driveTrain.getMode()); |
| 31 | } |
| 32 | |
| 33 | @Override |
| 34 | protected void execute() { |
| 35 | Robot.driveTrain.turnAngle(angle); |
| 36 | Robot.driveTrain.printGyroOutput(); |
| 37 | Robot.driveTrain.printOutput(); |
| 38 | |
| 39 | } |
| 40 | |
| 41 | @Override |
| 42 | protected boolean isFinished() { |
| 43 | if (timeSinceInitialized() >= maxTimeOut |
| 44 | || Robot.driveTrain |
| 45 | .reachedTarget() || Robot.driveTrain.getError() < 8) { |
| 46 | System.out.println("time: " + timeSinceInitialized()); |
| 47 | Constants.DriveTrain.time = timeSinceInitialized(); |
| 48 | return true; |
| 49 | } |
| 50 | return false; |
| 51 | } |
| 52 | |
| 53 | @Override |
| 54 | protected void end() { |
| 55 | Robot.driveTrain.disable(); |
| 56 | } |
| 57 | |
| 58 | @Override |
| 59 | protected void interrupted() { |
| 60 | end(); |
| 61 | } |
| 62 | } |