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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; | |
e12d6901 | 20 | private double target; |
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21 | private double zeroAngle; |
22 | private Preferences prefs; | |
23 | private PIDController driveController; | |
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24 | |
25 | private double driveP; | |
26 | private double driveI; | |
27 | private double driveD; | |
35527abe | 28 | private double gyroP; |
aa160dfd | 29 | |
db326f40 | 30 | public DriveDistance(double distance, double maxTimeOut) { |
9b35aa55 | 31 | requires(driveTrain); |
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32 | this.maxTimeOut = maxTimeOut; |
33 | this.target = distance; | |
34 | ||
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35 | this.driveP = driveTrain.driveP; |
36 | this.driveI = driveTrain.driveI; | |
37 | this.driveD = driveTrain.driveD; | |
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38 | this.gyroP = driveTrain.driveStraightGyroP; |
39 | this.driveController = new PIDController(driveP, driveI, driveD); | |
c726d04a | 40 | this.driveController.setDoneRange(1.0); |
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41 | this.driveController.setMaxOutput(1.0); |
42 | this.driveController.setMinDoneCycles(5); | |
d17d868d | 43 | } |
44 | ||
d17d868d | 45 | @Override |
46 | protected void initialize() { | |
e12d6901 | 47 | this.driveTrain.resetEncoders(); |
e12d6901 | 48 | this.driveController.setSetPoint(this.target); |
c726d04a | 49 | this.zeroAngle = driveTrain.getAngle(); |
d17d868d | 50 | } |
51 | ||
d17d868d | 52 | @Override |
53 | protected void execute() { | |
35527abe | 54 | double xVal = gyroP * (driveTrain.getAngle() - zeroAngle); |
9ca89e45 | 55 | double yVal = driveController.calcPID(driveTrain.getRightEncoderDistance()); |
e12d6901 | 56 | |
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57 | double leftDrive = yVal - xVal; |
58 | double rightDrive = yVal + xVal; | |
e12d6901 | 59 | this.driveTrain.setMotorValues(leftDrive, rightDrive); |
d17d868d | 60 | } |
61 | ||
d17d868d | 62 | @Override |
63 | protected boolean isFinished() { | |
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64 | return timeSinceInitialized() >= maxTimeOut |
65 | || this.driveController.isDone(); | |
d17d868d | 66 | } |
67 | ||
d17d868d | 68 | @Override |
69 | protected void end() { | |
70 | } | |
71 | ||
d17d868d | 72 | @Override |
73 | protected void interrupted() { | |
e12d6901 | 74 | end(); |
d17d868d | 75 | } |
aa160dfd | 76 | } |