create basic DriveFor command so it can be built upon

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java
index 6e61e616bd0bf16d4b09942224edef3c73908be4..b614a076416dde37517d9670a15d047fa8bee1b2 100644 (file)
--- a/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java
@@ -2,6 +2,7 @@ package org.usfirst.frc3501.RiceCatRobot.commands;
 
 import org.usfirst.frc3501.RiceCatRobot.Robot;
 import org.usfirst.frc3501.RiceCatRobot.RobotMap.Direction;
+import org.usfirst.frc3501.RiceCatRobot.subsystems.DriveTrain;
 
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
@@ -11,66 +12,48 @@ import edu.wpi.first.wpilibj.command.Command;
  *
  */
 public class DriveFor extends Command {
-    private double seconds;
-    private Timer timer;
-    private Direction direction;
-
-    public DriveFor(double seconds, Direction direction) {
-        this.seconds = seconds;
-        this.direction = direction;
-
-    }
-
-    @Override
-    protected void initialize() {
-        timer = new Timer();
-        timer.reset();
-        timer.start();
-    }
-
-    @Override
-    protected void execute() {
-        System.out.println(timer.get());
-        if (direction == Direction.FORWARD) {
-            if (timer.get() < seconds * 0.2) { // for the first 20% of time, run
-                                               // the robot at -.5 speed
-                Robot.driveTrain.arcadeDrive(-0.3, 0);
-            } else if (timer.get() >= seconds * 0.2
-                    && timer.get() <= seconds * 0.8) { // for the +20% - 75%
-                                                       // time, move the robot
-                                                       // at -.3 speed.
-                Robot.driveTrain.arcadeDrive(-0.5, 0);
-            } else if (timer.get() < seconds) {
-                Robot.driveTrain.arcadeDrive(-0.25, 0);
-            } else {
-                Robot.driveTrain.arcadeDrive(0, 0);
-            }
-        } else if (direction == Direction.BACKWARD) {
-            if (timer.get() < seconds * 0.2) {
-                Robot.driveTrain.arcadeDrive(0.3, 0);
-            } else if (timer.get() >= seconds * 0.2
-                    && timer.get() <= seconds * 0.8) {
-                Robot.driveTrain.arcadeDrive(0.5, 0);
-            } else if (timer.get() < seconds) {
-                Robot.driveTrain.arcadeDrive(0.25, 0);
-            } else {
-                Robot.driveTrain.arcadeDrive(0, 0);
-            }
-        }
-    }
-
-    @Override
-    protected boolean isFinished() {
-        return timer.get() > seconds;
-    }
-
-    @Override
-    protected void end() {
-        Robot.driveTrain.arcadeDrive(0, 0);
-    }
-
-    @Override
-    protected void interrupted() {
-        end();
+  private double seconds;
+  private double speed;
+  private Timer timer;
+  private Direction direction;
+
+  public DriveFor(double seconds, double speed, Direction direction) {
+    // limit speed to the range [0, MOTOR_MAX_VAL]
+    this.speed = Math.max(speed, -speed);
+    this.speed = Math.min(speed, DriveTrain.MOTOR_MAX_VAL);
+
+    this.seconds = seconds;
+    this.direction = direction;
+  }
+
+  @Override
+  protected void initialize() {
+    timer = new Timer();
+    timer.reset();
+    timer.start();
+  }
+
+  @Override
+  protected void execute() {
+    if (direction == Direction.FORWARD) {
+      Robot.driveTrain.setMotorSpeeds(-speed, -speed);
+    } else if (direction == Direction.BACKWARD) {
+      Robot.driveTrain.setMotorSpeeds(speed, speed);
     }
-}
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return timer.get() > seconds;
+  }
+
+  @Override
+  protected void end() {
+    Robot.driveTrain.setMotorSpeeds(0, 0);
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+}
\ No newline at end of file

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
index 9307c787efa5f15a34a1753f56d41a6e91c17572..02346679ce35b48b4e4870a436a7fd656464d876 100644 (file)
--- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
@@ -8,100 +8,103 @@ import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-    private CANJaguar frontLeft, frontRight, rearLeft, rearRight;
-    private Encoder leftEncoder, rightEncoder;
+  public static final double MOTOR_MAX_VAL = 1;
+  public static final double MOTOR_MIN_VAL = -1;
 
-    public DriveTrain() {
-        frontLeft = new CANJaguar(RobotMap.DRIVE_FRONT_LEFT);
-        frontRight = new CANJaguar(RobotMap.DRIVE_FRONT_RIGHT);
-        rearLeft = new CANJaguar(RobotMap.DRIVE_REAR_LEFT);
-        rearRight = new CANJaguar(RobotMap.DRIVE_REAR_RIGHT);
-        leftEncoder = new Encoder(RobotMap.DRIVE_LEFT_A, RobotMap.DRIVE_LEFT_B,
-                false, EncodingType.k4X);
-        rightEncoder = new Encoder(RobotMap.DRIVE_RIGHT_A,
-                RobotMap.DRIVE_RIGHT_B, false, EncodingType.k4X);
-        leftEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
-        rightEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
-    }
+  private CANJaguar frontLeft, frontRight, rearLeft, rearRight;
+  private Encoder leftEncoder, rightEncoder;
 
-    public void resetEncoders() {
-        leftEncoder.reset();
-        rightEncoder.reset();
-    }
+  public DriveTrain() {
+    frontLeft = new CANJaguar(RobotMap.DRIVE_FRONT_LEFT);
+    frontRight = new CANJaguar(RobotMap.DRIVE_FRONT_RIGHT);
+    rearLeft = new CANJaguar(RobotMap.DRIVE_REAR_LEFT);
+    rearRight = new CANJaguar(RobotMap.DRIVE_REAR_RIGHT);
+    leftEncoder = new Encoder(RobotMap.DRIVE_LEFT_A, RobotMap.DRIVE_LEFT_B,
+        false, EncodingType.k4X);
+    rightEncoder = new Encoder(RobotMap.DRIVE_RIGHT_A, RobotMap.DRIVE_RIGHT_B,
+        false, EncodingType.k4X);
+    leftEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
+    rightEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
+  }
 
-    public double getRightSpeed() {
-        // Returns in per second
-        return rightEncoder.getRate();
-    }
+  public void resetEncoders() {
+    leftEncoder.reset();
+    rightEncoder.reset();
+  }
 
-    public double getLeftSpeed() {
-        return leftEncoder.getRate();
-    }
+  public double getRightSpeed() {
+    // Returns in per second
+    return rightEncoder.getRate();
+  }
 
-    public double getRightDistance() {
-        // Returns distance in in
-        return rightEncoder.getDistance();
-    }
+  public double getLeftSpeed() {
+    return leftEncoder.getRate();
+  }
 
-    public double getLeftDistance() {
-        // Returns distance in in
-        return leftEncoder.getDistance();
-    }
+  public double getRightDistance() {
+    // Returns distance in in
+    return rightEncoder.getDistance();
+  }
 
-    public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
-        if (Math.abs(leftSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
-            leftSpeed = 0;
-        }
-        if (Math.abs(rightSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
-            rightSpeed = 0;
-        }
-        this.frontLeft.set(leftSpeed);
-        this.frontRight.set(-rightSpeed);
-        this.rearLeft.set(leftSpeed);
-        this.rearRight.set(-rightSpeed);
-    }
+  public double getLeftDistance() {
+    // Returns distance in in
+    return leftEncoder.getDistance();
+  }
 
-    public void arcadeDrive(double yVal, double twist) {
-        if (yVal < 0 && Math.abs(yVal) < 0.1125) {
-            yVal = 0;
-        } else if (yVal > 0 && Math.abs(yVal) < 0.25) {
-            yVal = 0;
-        } else if (yVal > 0) {
-            yVal -= 0.25;
-        } else if (yVal < 0) {
-            yVal += 0.15;
-        }
-        if (Math.abs(twist) < RobotMap.DRIVE_DEAD_ZONE) {
-            twist = 0;
-        }
+  public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
+    if (Math.abs(leftSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
+      leftSpeed = 0;
+    }
+    if (Math.abs(rightSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
+      rightSpeed = 0;
+    }
+    this.frontLeft.set(leftSpeed);
+    this.frontRight.set(-rightSpeed);
+    this.rearLeft.set(leftSpeed);
+    this.rearRight.set(-rightSpeed);
+  }
 
-        double leftMotorSpeed;
-        double rightMotorSpeed;
-        // adjust the sensitivity (yVal+rootof (yval)) / 2
-        yVal = (yVal + Math.signum(yVal) * Math.sqrt(Math.abs(yVal))) / 2;
-        // adjust the sensitivity (twist+rootof (twist)) / 2
-        twist = (twist + Math.signum(twist) * Math.sqrt(Math.abs(twist))) / 2;
-        if (yVal > 0) {
-            if (twist > 0) {
-                leftMotorSpeed = yVal - twist;
-                rightMotorSpeed = Math.max(yVal, twist);
-            } else {
-                leftMotorSpeed = Math.max(yVal, -twist);
-                rightMotorSpeed = yVal + twist;
-            }
-        } else {
-            if (twist > 0.0) {
-                leftMotorSpeed = -Math.max(-yVal, twist);
-                rightMotorSpeed = yVal + twist;
-            } else {
-                leftMotorSpeed = yVal - twist;
-                rightMotorSpeed = -Math.max(-yVal, -twist);
-            }
-        }
-        setMotorSpeeds(leftMotorSpeed, rightMotorSpeed);
+  public void arcadeDrive(double yVal, double twist) {
+    if (yVal < 0 && Math.abs(yVal) < 0.1125) {
+      yVal = 0;
+    } else if (yVal > 0 && Math.abs(yVal) < 0.25) {
+      yVal = 0;
+    } else if (yVal > 0) {
+      yVal -= 0.25;
+    } else if (yVal < 0) {
+      yVal += 0.15;
+    }
+    if (Math.abs(twist) < RobotMap.DRIVE_DEAD_ZONE) {
+      twist = 0;
     }
 
-    @Override
-    protected void initDefaultCommand() {
+    double leftMotorSpeed;
+    double rightMotorSpeed;
+    // adjust the sensitivity (yVal+rootof (yval)) / 2
+    yVal = (yVal + Math.signum(yVal) * Math.sqrt(Math.abs(yVal))) / 2;
+    // adjust the sensitivity (twist+rootof (twist)) / 2
+    twist = (twist + Math.signum(twist) * Math.sqrt(Math.abs(twist))) / 2;
+    if (yVal > 0) {
+      if (twist > 0) {
+        leftMotorSpeed = yVal - twist;
+        rightMotorSpeed = Math.max(yVal, twist);
+      } else {
+        leftMotorSpeed = Math.max(yVal, -twist);
+        rightMotorSpeed = yVal + twist;
+      }
+    } else {
+      if (twist > 0.0) {
+        leftMotorSpeed = -Math.max(-yVal, twist);
+        rightMotorSpeed = yVal + twist;
+      } else {
+        leftMotorSpeed = yVal - twist;
+        rightMotorSpeed = -Math.max(-yVal, -twist);
+      }
     }
+    setMotorSpeeds(leftMotorSpeed, rightMotorSpeed);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
 }