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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; |
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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 | |
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16 | */ |
17 | public class DriveDistance extends Command { | |
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18 | private DriveTrain driveTrain = Robot.getDriveTrain(); |
19 | private double maxTimeOut; | |
20 | private PIDController driveController; | |
21 | private PIDController gyroController; | |
22 | private Preferences prefs; | |
23 | ||
24 | private double target; | |
25 | private double gyroP; | |
26 | private double gyroI; | |
27 | private double gyroD; | |
28 | ||
29 | private double driveP; | |
30 | private double driveI; | |
31 | private double driveD; | |
aa160dfd | 32 | |
8e4c083c | 33 | public DriveDistance(double distance, double maxTimeOut) { |
e12d6901 | 34 | requires(driveTrain); |
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35 | this.maxTimeOut = maxTimeOut; |
36 | this.target = distance; | |
37 | ||
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38 | private double target; |
39 | private double gyroP; | |
40 | private double gyroI; | |
41 | private double gyroD; | |
42 | ||
43 | private double driveP; | |
44 | private double driveI; | |
45 | private double driveD; | |
46 | ||
47 | public DriveDistance(double distance, double motorVal) { | |
48 | requires(driveTrain); | |
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49 | this.maxTimeOut = maxTimeOut; |
50 | this.target = distance; | |
51 | ||
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52 | this.driveP = driveTrain.driveP; |
53 | this.driveI = driveTrain.driveI; | |
54 | this.driveD = driveTrain.driveD; | |
55 | this.gyroP = driveTrain.defaultGyroP; | |
56 | this.gyroI = driveTrain.defaultGyroI; | |
57 | this.gyroD = driveTrain.defaultGyroD; | |
58 | this.driveController = new PIDController(this.driveP, this.driveI, | |
59 | this.driveD); | |
60 | this.driveController.setDoneRange(0.5); | |
61 | this.driveController.setMaxOutput(1.0); | |
62 | this.driveController.setMinDoneCycles(5); | |
63 | ||
64 | this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD); | |
65 | this.gyroController.setDoneRange(1); | |
66 | this.gyroController.setMinDoneCycles(5); | |
d17d868d | 67 | } |
68 | ||
d17d868d | 69 | @Override |
70 | protected void initialize() { | |
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71 | this.driveTrain.resetEncoders(); |
72 | this.driveTrain.resetGyro(); | |
73 | this.driveController.setSetPoint(this.target); | |
74 | this.gyroController.setSetPoint(this.driveTrain.getZeroAngle()); | |
d17d868d | 75 | } |
76 | ||
d17d868d | 77 | @Override |
78 | protected void execute() { | |
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79 | double xVal = 0; |
80 | double yVal = this.driveController | |
81 | .calcPID(this.driveTrain.getAvgEncoderDistance()); | |
82 | ||
83 | if (this.driveTrain.getAngle() - this.driveTrain.getZeroAngle() < 30) { | |
84 | xVal = -this.gyroController | |
85 | .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle()); | |
86 | } | |
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87 | double leftDrive = yVal - xVal; |
88 | double rightDrive = yVal + xVal; | |
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89 | |
90 | this.driveTrain.setMotorValues(leftDrive, rightDrive); | |
91 | ||
8e4c083c | 92 | driveTrain.printEncoderOutput(); |
9b35aa55 | 93 | // System.out.println("turn: " + xVal); |
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94 | double leftDrive = yVal - xVal; |
95 | double rightDrive = yVal + xVal; | |
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96 | |
97 | this.driveTrain.setMotorValues(leftDrive, rightDrive); | |
98 | ||
174f415c | 99 | driveTrain.printEncoderOutput(); |
9b35aa55 | 100 | // System.out.println("motorval: " + yVal); |
d17d868d | 101 | } |
102 | ||
d17d868d | 103 | @Override |
104 | protected boolean isFinished() { | |
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105 | boolean isDone = this.driveController.isDone(); |
106 | if (timeSinceInitialized() >= maxTimeOut || isDone) | |
107 | System.out.println("time: " + timeSinceInitialized()); | |
108 | return timeSinceInitialized() >= maxTimeOut || isDone; | |
d17d868d | 109 | } |
110 | ||
d17d868d | 111 | @Override |
112 | protected void end() { | |
e12d6901 | 113 | driveTrain.stop(); |
d17d868d | 114 | } |
115 | ||
d17d868d | 116 | @Override |
117 | protected void interrupted() { | |
e12d6901 | 118 | end(); |
d17d868d | 119 | } |
aa160dfd | 120 | } |