| 1 | package org.usfirst.frc.team3501.robot.commands.driving; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | import org.usfirst.frc.team3501.robot.Constants.Direction; |
| 5 | import org.usfirst.frc.team3501.robot.Robot; |
| 6 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
| 7 | import org.usfirst.frc.team3501.robot.utils.PIDController; |
| 8 | |
| 9 | import edu.wpi.first.wpilibj.command.Command; |
| 10 | |
| 11 | /** |
| 12 | * This command turns the robot for a specified angle in specified direction - |
| 13 | * either left or right |
| 14 | * |
| 15 | * parameters: angle: the robot will turn - in degrees direction: the robot will |
| 16 | * turn - either right or left maxTimeOut: the max time this command will be |
| 17 | * allowed to run on for |
| 18 | */ |
| 19 | public class TurnForAngle extends Command { |
| 20 | private DriveTrain driveTrain = Robot.getDriveTrain(); |
| 21 | |
| 22 | Direction direction; |
| 23 | private double maxTimeOut; |
| 24 | private PIDController gyroController; |
| 25 | |
| 26 | private double target; |
| 27 | private double gyroP; |
| 28 | private double gyroI; |
| 29 | private double gyroD; |
| 30 | |
| 31 | public TurnForAngle(double angle, Direction direction, double maxTimeOut) { |
| 32 | requires(Robot.getDriveTrain()); |
| 33 | this.direction = direction; |
| 34 | this.maxTimeOut = maxTimeOut; |
| 35 | this.target = angle; |
| 36 | |
| 37 | this.gyroP = driveTrain.defaultGyroP; |
| 38 | this.gyroI = driveTrain.defaultGyroI; |
| 39 | this.gyroD = driveTrain.defaultGyroD; |
| 40 | |
| 41 | this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD); |
| 42 | this.gyroController.setDoneRange(1); |
| 43 | this.gyroController.setMinDoneCycles(5); |
| 44 | } |
| 45 | |
| 46 | @Override |
| 47 | protected void initialize() { |
| 48 | this.driveTrain.resetEncoders(); |
| 49 | this.driveTrain.resetGyro(); |
| 50 | this.gyroController.setSetPoint(this.target); |
| 51 | } |
| 52 | |
| 53 | @Override |
| 54 | protected void execute() { |
| 55 | double xVal = 0; |
| 56 | |
| 57 | xVal = this.gyroController |
| 58 | .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle()); |
| 59 | |
| 60 | double leftDrive; |
| 61 | double rightDrive; |
| 62 | if (direction == Constants.Direction.RIGHT) { |
| 63 | leftDrive = xVal; |
| 64 | rightDrive = -xVal; |
| 65 | } else { |
| 66 | leftDrive = -xVal; |
| 67 | rightDrive = xVal; |
| 68 | } |
| 69 | |
| 70 | this.driveTrain.setMotorValues(leftDrive, rightDrive); |
| 71 | } |
| 72 | |
| 73 | @Override |
| 74 | protected boolean isFinished() { |
| 75 | return timeSinceInitialized() >= maxTimeOut || gyroController.isDone(); |
| 76 | } |
| 77 | |
| 78 | @Override |
| 79 | protected void end() { |
| 80 | } |
| 81 | |
| 82 | @Override |
| 83 | protected void interrupted() { |
| 84 | end(); |
| 85 | } |
| 86 | } |