fix shooter commands

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / RunFlyWheelContinuous.java

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

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

import edu.wpi.first.wpilibj.command.Command;

/**
 * This command runs the fly wheel continuously at a set speed using a PID
 * Controller when OI button managing fly wheel is pressed. The command will run
 * the fly wheel motor until the button triggering it is released.
 *
 * Should only be run from the operator interface.
 *
 * pre-condition: This command must be run by a button in OI, with
 * button.whileHeld(...).
 *
 * @author Shaina & Chris
 */
public class RunFlyWheelContinuous extends Command {
  private Shooter shooter = Robot.getShooter();

  private PIDController wheelController;
  private double wheelP;
  private double wheelI;
  private double wheelD;
  private double target;
  double shooterSpeed = 0;

  public RunFlyWheelContinuous() {
    this.wheelP = this.shooter.wheelP;
    this.wheelI = this.shooter.wheelI;
    this.wheelD = this.shooter.wheelD;
    this.wheelController = new PIDController(this.wheelP, this.wheelI,
        this.wheelD);
    this.wheelController.setDoneRange(10);
    this.wheelController.setMaxOutput(1.0);
    this.wheelController.setMinDoneCycles(3);
    this.target = 2700;
  }

  @Override
  protected void initialize() {
    this.wheelController.setSetPoint(this.target);
  }

  @Override
  protected void execute() {
    double calculatedShooterIncrement = this.wheelController
        .calcPID(this.shooter.getShooterRPM());
    shooterSpeed += calculatedShooterIncrement;
    if (shooterSpeed > 1.0)
      this.shooter.setFlyWheelMotorVal(1.0);
    else
      this.shooter.setFlyWheelMotorVal(shooterSpeed);
    // this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
  }

  @Override
  protected boolean isFinished() {
    return false;
  }

  @Override
  protected void end() {
    this.shooter.stopFlyWheel();
  }

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