Commit | Line | Data |
---|---|---|
aa160dfd ME |
1 | package org.usfirst.frc.team3501.robot.commands.driving; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Robot; | |
e12d6901 CZ |
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 | 8 | import edu.wpi.first.wpilibj.command.Command; |
b5ddf3e2 | 9 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
aa160dfd ME |
10 | |
11 | /** | |
c0e9f911 ME |
12 | * This command makes the robot drive a specified distance using encoders on the |
13 | * robot and using a feedback loop | |
aa160dfd | 14 | * |
e12d6901 CZ |
15 | * parameters: distance the robot will move in inches motorVal: the motor input |
16 | * to set the motors to | |
aa160dfd ME |
17 | */ |
18 | public class DriveDistance extends Command { | |
e12d6901 | 19 | private DriveTrain driveTrain = Robot.getDriveTrain(); |
c9cdc810 | 20 | private double maxTimeOut; |
e12d6901 | 21 | private double target; |
35527abe CZ |
22 | private double zeroAngle; |
23 | private Preferences prefs; | |
24 | private PIDController driveController; | |
e12d6901 | 25 | |
b5ddf3e2 | 26 | private double driveStraightGyroP; |
aa160dfd | 27 | |
db326f40 | 28 | public DriveDistance(double distance, double maxTimeOut) { |
9b35aa55 | 29 | requires(driveTrain); |
174f415c | 30 | this.target = distance; |
c9cdc810 | 31 | this.maxTimeOut = maxTimeOut; |
b5ddf3e2 ES |
32 | driveStraightGyroP = SmartDashboard.getNumber(driveTrain.DRIVE_GYRO_P_Val, |
33 | driveTrain.PID_ERROR); | |
d3ed4499 | 34 | |
9ffd117a E |
35 | this.driveController = driveTrain.getDriveController(); |
36 | this.driveController.setDoneRange(0.5); | |
c9cdc810 | 37 | this.driveController.setMaxOutput(1.0); |
e12d6901 | 38 | this.driveController.setMinDoneCycles(5); |
d17d868d | 39 | } |
40 | ||
d17d868d | 41 | @Override |
42 | protected void initialize() { | |
e12d6901 | 43 | this.driveTrain.resetEncoders(); |
e12d6901 | 44 | this.driveController.setSetPoint(this.target); |
576421d8 | 45 | zeroAngle = driveTrain.getAngle(); |
d17d868d | 46 | } |
47 | ||
d17d868d | 48 | @Override |
49 | protected void execute() { | |
576421d8 | 50 | System.out.printf("angle: %.2f\t", driveTrain.getAngle() - zeroAngle); |
b5ddf3e2 | 51 | double xVal = driveStraightGyroP * (driveTrain.getAngle() - zeroAngle); |
35527abe | 52 | double yVal = driveController.calcPID(driveTrain.getAvgEncoderDistance()); |
e12d6901 | 53 | |
8e4c083c CZ |
54 | double leftDrive = yVal - xVal; |
55 | double rightDrive = yVal + xVal; | |
e12d6901 | 56 | this.driveTrain.setMotorValues(leftDrive, rightDrive); |
b5ddf3e2 | 57 | |
576421d8 ES |
58 | // SmartDashboard.putNumber("x", xVal); |
59 | // SmartDashboard.putNumber("y", yVal); | |
60 | // | |
61 | // SmartDashboard.putNumber("left", driveTrain.getLeftEncoderDistance()); | |
62 | // SmartDashboard.putNumber("right", driveTrain.getRightEncoderDistance()); | |
63 | // | |
64 | // System.out.printf("x: %.2f\t", xVal); | |
65 | // System.out.printf("y: %.2f\t", yVal); | |
66 | // | |
67 | // System.out.printf("dist: %.2f\n", driveTrain.getAvgEncoderDistance()); | |
b5ddf3e2 | 68 | |
d17d868d | 69 | } |
70 | ||
d17d868d | 71 | @Override |
72 | protected boolean isFinished() { | |
35527abe CZ |
73 | return timeSinceInitialized() >= maxTimeOut |
74 | || this.driveController.isDone(); | |
d17d868d | 75 | } |
76 | ||
d17d868d | 77 | @Override |
78 | protected void end() { | |
79 | } | |
80 | ||
d17d868d | 81 | @Override |
82 | protected void interrupted() { | |
e12d6901 | 83 | end(); |
d17d868d | 84 | } |
aa160dfd | 85 | } |