finish implement driveDistance and TurnForAngle using PID algorithm

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

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

import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Constants.Direction;
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.command.Command;

/**
 * This command turns the robot for a specified angle in specified direction -
 * either left or right
 *
 * parameters: angle: the robot will turn - in degrees direction: the robot will
 * turn - either right or left maxTimeOut: the max time this command will be
 * allowed to run on for
 */
public class TurnForAngle extends Command {
  private DriveTrain driveTrain = Robot.getDriveTrain();

  Direction direction;
  private double maxTimeOut;
  private PIDController gyroController;

  private double target;
  private double gyroP;
  private double gyroI;
  private double gyroD;

  public TurnForAngle(double angle, Direction direction, double maxTimeOut) {
    requires(Robot.getDriveTrain());
    this.direction = direction;
    this.maxTimeOut = maxTimeOut;
    this.target = angle;

    this.gyroP = driveTrain.defaultGyroP;
    this.gyroI = driveTrain.defaultGyroI;
    this.gyroD = driveTrain.defaultGyroD;

    this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
    this.gyroController.setDoneRange(1);
    this.gyroController.setMinDoneCycles(5);
  }

  @Override
  protected void initialize() {
    this.driveTrain.resetEncoders();
    this.driveTrain.resetGyro();
    this.gyroController.setSetPoint(this.target);
  }

  @Override
  protected void execute() {
    double xVal = 0;

    xVal = this.gyroController
        .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle());

    double leftDrive;
    double rightDrive;
    if (direction == Constants.Direction.RIGHT) {
      leftDrive = xVal;
      rightDrive = -xVal;
    } else {
      leftDrive = -xVal;
      rightDrive = xVal;
    }

    this.driveTrain.setMotorValues(leftDrive, rightDrive);
  }

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

  @Override
  protected void end() {
  }

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