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aa160dfd ME |
1 | package org.usfirst.frc.team3501.robot.commands.driving; |
2 | ||
9b35aa55 | 3 | import org.usfirst.frc.team3501.robot.MathLib; |
aa160dfd | 4 | import org.usfirst.frc.team3501.robot.Robot; |
e12d6901 CZ |
5 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
6 | import org.usfirst.frc.team3501.robot.utils.PIDController; | |
aa160dfd | 7 | |
e12d6901 | 8 | import edu.wpi.first.wpilibj.Preferences; |
aa160dfd ME |
9 | import edu.wpi.first.wpilibj.command.Command; |
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 CZ |
19 | private DriveTrain driveTrain = Robot.getDriveTrain(); |
20 | private double maxTimeOut; | |
21 | private PIDController driveController; | |
22 | private PIDController gyroController; | |
23 | private Preferences prefs; | |
24 | ||
25 | private double target; | |
26 | private double gyroP; | |
27 | private double gyroI; | |
28 | private double gyroD; | |
29 | ||
30 | private double driveP; | |
31 | private double driveI; | |
32 | private double driveD; | |
aa160dfd | 33 | |
8e4c083c | 34 | public DriveDistance(double distance, double maxTimeOut) { |
e12d6901 | 35 | requires(driveTrain); |
8e4c083c CZ |
36 | this.maxTimeOut = maxTimeOut; |
37 | this.target = distance; | |
38 | ||
9b35aa55 CZ |
39 | private double target; |
40 | private double gyroP; | |
41 | private double gyroI; | |
42 | private double gyroD; | |
43 | ||
44 | private double driveP; | |
45 | private double driveI; | |
46 | private double driveD; | |
47 | ||
48 | public DriveDistance(double distance, double motorVal) { | |
49 | requires(driveTrain); | |
e12d6901 CZ |
50 | this.driveP = driveTrain.driveP; |
51 | this.driveI = driveTrain.driveI; | |
52 | this.driveD = driveTrain.driveD; | |
53 | this.gyroP = driveTrain.defaultGyroP; | |
54 | this.gyroI = driveTrain.defaultGyroI; | |
55 | this.gyroD = driveTrain.defaultGyroD; | |
56 | this.driveController = new PIDController(this.driveP, this.driveI, | |
57 | this.driveD); | |
58 | this.driveController.setDoneRange(0.5); | |
59 | this.driveController.setMaxOutput(1.0); | |
60 | this.driveController.setMinDoneCycles(5); | |
61 | ||
62 | this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD); | |
63 | this.gyroController.setDoneRange(1); | |
64 | this.gyroController.setMinDoneCycles(5); | |
d17d868d | 65 | } |
66 | ||
d17d868d | 67 | @Override |
68 | protected void initialize() { | |
e12d6901 CZ |
69 | this.driveTrain.resetEncoders(); |
70 | this.driveTrain.resetGyro(); | |
71 | this.driveController.setSetPoint(this.target); | |
72 | this.gyroController.setSetPoint(this.driveTrain.getZeroAngle()); | |
d17d868d | 73 | } |
74 | ||
d17d868d | 75 | @Override |
76 | protected void execute() { | |
e12d6901 CZ |
77 | double xVal = 0; |
78 | double yVal = this.driveController | |
79 | .calcPID(this.driveTrain.getAvgEncoderDistance()); | |
80 | ||
81 | if (this.driveTrain.getAngle() - this.driveTrain.getZeroAngle() < 30) { | |
82 | xVal = -this.gyroController | |
83 | .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle()); | |
84 | } | |
8e4c083c CZ |
85 | double leftDrive = yVal - xVal; |
86 | double rightDrive = yVal + xVal; | |
e12d6901 CZ |
87 | |
88 | this.driveTrain.setMotorValues(leftDrive, rightDrive); | |
89 | ||
8e4c083c | 90 | driveTrain.printEncoderOutput(); |
9b35aa55 CZ |
91 | // System.out.println("turn: " + xVal); |
92 | double leftDrive = MathLib.calcLeftTankDrive(-xVal, yVal); | |
93 | double rightDrive = MathLib.calcRightTankDrive(xVal, -yVal); | |
94 | ||
95 | this.driveTrain.setMotorValues(leftDrive, rightDrive); | |
96 | ||
97 | System.out.println(driveTrain.getAvgEncoderDistance()); | |
98 | // System.out.println("motorval: " + yVal); | |
d17d868d | 99 | } |
100 | ||
d17d868d | 101 | @Override |
102 | protected boolean isFinished() { | |
e12d6901 CZ |
103 | boolean isDone = this.driveController.isDone(); |
104 | if (timeSinceInitialized() >= maxTimeOut || isDone) | |
105 | System.out.println("time: " + timeSinceInitialized()); | |
106 | return timeSinceInitialized() >= maxTimeOut || isDone; | |
d17d868d | 107 | } |
108 | ||
d17d868d | 109 | @Override |
110 | protected void end() { | |
e12d6901 | 111 | driveTrain.stop(); |
d17d868d | 112 | } |
113 | ||
d17d868d | 114 | @Override |
115 | protected void interrupted() { | |
e12d6901 | 116 | end(); |
d17d868d | 117 | } |
aa160dfd | 118 | } |