| 1 | package org.usfirst.frc.team3501.robot.commands.driving; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.MathLib; |
| 4 | import org.usfirst.frc.team3501.robot.Robot; |
| 5 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
| 6 | import org.usfirst.frc.team3501.robot.utils.PIDController; |
| 7 | |
| 8 | import edu.wpi.first.wpilibj.Preferences; |
| 9 | import edu.wpi.first.wpilibj.command.Command; |
| 10 | |
| 11 | /** |
| 12 | * This command makes the robot drive a specified distance using encoders on the |
| 13 | * robot and using a feedback loop |
| 14 | * |
| 15 | * parameters: distance the robot will move in inches motorVal: the motor input |
| 16 | * to set the motors to |
| 17 | */ |
| 18 | public class DriveDistance extends Command { |
| 19 | private DriveTrain driveTrain = Robot.getDriveTrain(); |
| 20 | private double maxTimeOut; |
| 21 | private PIDController driveController; |
| 22 | private PIDController gyroController; |
| 23 | private Preferences prefs; |
| 24 | |
| 25 | private double target; |
| 26 | private double gyroP; |
| 27 | private double gyroI; |
| 28 | private double gyroD; |
| 29 | |
| 30 | private double driveP; |
| 31 | private double driveI; |
| 32 | private double driveD; |
| 33 | |
| 34 | public DriveDistance(double distance, double maxTimeOut) { |
| 35 | requires(driveTrain); |
| 36 | this.maxTimeOut = maxTimeOut; |
| 37 | this.target = distance; |
| 38 | |
| 39 | private double target; |
| 40 | private double gyroP; |
| 41 | private double gyroI; |
| 42 | private double gyroD; |
| 43 | |
| 44 | private double driveP; |
| 45 | private double driveI; |
| 46 | private double driveD; |
| 47 | |
| 48 | public DriveDistance(double distance, double motorVal) { |
| 49 | requires(driveTrain); |
| 50 | this.driveP = driveTrain.driveP; |
| 51 | this.driveI = driveTrain.driveI; |
| 52 | this.driveD = driveTrain.driveD; |
| 53 | this.gyroP = driveTrain.defaultGyroP; |
| 54 | this.gyroI = driveTrain.defaultGyroI; |
| 55 | this.gyroD = driveTrain.defaultGyroD; |
| 56 | this.driveController = new PIDController(this.driveP, this.driveI, |
| 57 | this.driveD); |
| 58 | this.driveController.setDoneRange(0.5); |
| 59 | this.driveController.setMaxOutput(1.0); |
| 60 | this.driveController.setMinDoneCycles(5); |
| 61 | |
| 62 | this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD); |
| 63 | this.gyroController.setDoneRange(1); |
| 64 | this.gyroController.setMinDoneCycles(5); |
| 65 | } |
| 66 | |
| 67 | @Override |
| 68 | protected void initialize() { |
| 69 | this.driveTrain.resetEncoders(); |
| 70 | this.driveTrain.resetGyro(); |
| 71 | this.driveController.setSetPoint(this.target); |
| 72 | this.gyroController.setSetPoint(this.driveTrain.getZeroAngle()); |
| 73 | } |
| 74 | |
| 75 | @Override |
| 76 | protected void execute() { |
| 77 | double xVal = 0; |
| 78 | double yVal = this.driveController |
| 79 | .calcPID(this.driveTrain.getAvgEncoderDistance()); |
| 80 | |
| 81 | if (this.driveTrain.getAngle() - this.driveTrain.getZeroAngle() < 30) { |
| 82 | xVal = -this.gyroController |
| 83 | .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle()); |
| 84 | } |
| 85 | double leftDrive = yVal - xVal; |
| 86 | double rightDrive = yVal + xVal; |
| 87 | |
| 88 | this.driveTrain.setMotorValues(leftDrive, rightDrive); |
| 89 | |
| 90 | driveTrain.printEncoderOutput(); |
| 91 | // System.out.println("turn: " + xVal); |
| 92 | double leftDrive = MathLib.calcLeftTankDrive(-xVal, yVal); |
| 93 | double rightDrive = MathLib.calcRightTankDrive(xVal, -yVal); |
| 94 | |
| 95 | this.driveTrain.setMotorValues(leftDrive, rightDrive); |
| 96 | |
| 97 | System.out.println(driveTrain.getAvgEncoderDistance()); |
| 98 | // System.out.println("motorval: " + yVal); |
| 99 | } |
| 100 | |
| 101 | @Override |
| 102 | protected boolean isFinished() { |
| 103 | boolean isDone = this.driveController.isDone(); |
| 104 | if (timeSinceInitialized() >= maxTimeOut || isDone) |
| 105 | System.out.println("time: " + timeSinceInitialized()); |
| 106 | return timeSinceInitialized() >= maxTimeOut || isDone; |
| 107 | } |
| 108 | |
| 109 | @Override |
| 110 | protected void end() { |
| 111 | driveTrain.stop(); |
| 112 | } |
| 113 | |
| 114 | @Override |
| 115 | protected void interrupted() { |
| 116 | end(); |
| 117 | } |
| 118 | } |