update code

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / driving / DriveDistance.java

package org.usfirst.frc.team3501.robot.commands.driving;

import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.utils.PIDController;

import edu.wpi.first.wpilibj.Preferences;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**
 * This command makes the robot drive a specified distance using encoders on the
 * robot and using a feedback loop
 *
 * parameters: distance the robot will move in inches motorVal: the motor input
 * to set the motors to
 */
public class DriveDistance extends Command {
  private DriveTrain driveTrain = Robot.getDriveTrain();
  private double maxTimeOut;
  private double target;
  private double zeroAngle;
  private Preferences prefs;
  private PIDController driveController;

  private double driveStraightGyroP;

  public DriveDistance(double distance, double maxTimeOut) {
    requires(driveTrain);
    this.target = distance;
    this.maxTimeOut = maxTimeOut;
    driveStraightGyroP = SmartDashboard.getNumber(driveTrain.DRIVE_GYRO_P_Val,
        driveTrain.PID_ERROR);

    this.driveController = driveTrain.getDriveController();
    this.driveController.setDoneRange(0.5);
    this.driveController.setMaxOutput(1.0);
    this.driveController.setMinDoneCycles(5);
  }

  @Override
  protected void initialize() {
    this.driveTrain.resetEncoders();
    this.driveController.setSetPoint(this.target);
    zeroAngle = driveTrain.getAngle();
  }

  @Override
  protected void execute() {
    System.out.printf("angle: %.2f\t", driveTrain.getAngle() - zeroAngle);
    double xVal = driveStraightGyroP * (driveTrain.getAngle() - zeroAngle);
    double yVal = driveController.calcPID(driveTrain.getAvgEncoderDistance());

    double leftDrive = yVal - xVal;
    double rightDrive = yVal + xVal;
    this.driveTrain.setMotorValues(leftDrive, rightDrive);

    // SmartDashboard.putNumber("x", xVal);
    // SmartDashboard.putNumber("y", yVal);
    //
    // SmartDashboard.putNumber("left", driveTrain.getLeftEncoderDistance());
    // SmartDashboard.putNumber("right", driveTrain.getRightEncoderDistance());
    //
    // System.out.printf("x: %.2f\t", xVal);
    // System.out.printf("y: %.2f\t", yVal);
    //
    // System.out.printf("dist: %.2f\n", driveTrain.getAvgEncoderDistance());

  }

  @Override
  protected boolean isFinished() {
    return timeSinceInitialized() >= maxTimeOut
        || this.driveController.isDone();
  }

  @Override
  protected void end() {
  }

  @Override
  protected void interrupted() {
    end();
  }
}