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(); |
a4ea9991 | 20 | private double maxTimeOut = 10; |
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; |
b5ddf3e2 ES |
31 | driveStraightGyroP = SmartDashboard.getNumber(driveTrain.DRIVE_GYRO_P_Val, |
32 | driveTrain.PID_ERROR); | |
d3ed4499 | 33 | |
9ffd117a E |
34 | this.driveController = driveTrain.getDriveController(); |
35 | this.driveController.setDoneRange(0.5); | |
e8b102d5 | 36 | this.driveController.setMaxOutput(1.1); |
e12d6901 | 37 | this.driveController.setMinDoneCycles(5); |
d17d868d | 38 | } |
39 | ||
d17d868d | 40 | @Override |
41 | protected void initialize() { | |
e12d6901 | 42 | this.driveTrain.resetEncoders(); |
e12d6901 | 43 | this.driveController.setSetPoint(this.target); |
d17d868d | 44 | } |
45 | ||
d17d868d | 46 | @Override |
47 | protected void execute() { | |
b5ddf3e2 | 48 | double xVal = driveStraightGyroP * (driveTrain.getAngle() - zeroAngle); |
35527abe | 49 | double yVal = driveController.calcPID(driveTrain.getAvgEncoderDistance()); |
e12d6901 | 50 | |
8e4c083c CZ |
51 | double leftDrive = yVal - xVal; |
52 | double rightDrive = yVal + xVal; | |
e12d6901 | 53 | this.driveTrain.setMotorValues(leftDrive, rightDrive); |
b5ddf3e2 ES |
54 | |
55 | System.out.println( | |
56 | "PID VALS: " + driveController.getP() + " " + driveController.getI() | |
57 | + " " + driveController.getD()); | |
58 | ||
59 | System.out.println(driveTrain.getAvgEncoderDistance()); | |
d17d868d | 60 | } |
61 | ||
d17d868d | 62 | @Override |
63 | protected boolean isFinished() { | |
35527abe CZ |
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 | } |