| 1 | |
| 2 | package org.usfirst.frc.team3501.robot.commands.shooter; |
| 3 | |
| 4 | import org.usfirst.frc.team3501.robot.Robot; |
| 5 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
| 6 | import org.usfirst.frc.team3501.robot.utils.PIDController; |
| 7 | |
| 8 | import edu.wpi.first.wpilibj.command.Command; |
| 9 | |
| 10 | /** |
| 11 | * This command runs the fly wheel at a specific speed using a PID Controller |
| 12 | * for accuracy for a given time. The fly wheel is intended to shoot balls fed |
| 13 | * by the intake wheel. |
| 14 | * |
| 15 | * @author Shaina & Chris |
| 16 | */ |
| 17 | public class RunFlyWheel extends Command { |
| 18 | private Shooter shooter = Robot.getShooter(); |
| 19 | private double maxTimeOut; |
| 20 | |
| 21 | private PIDController wheelController; |
| 22 | private double wheelP; |
| 23 | private double wheelI; |
| 24 | private double wheelD; |
| 25 | private double target; |
| 26 | private double shooterSpeed = 0; |
| 27 | |
| 28 | public RunFlyWheel(double maxTimeOut) { |
| 29 | |
| 30 | this.wheelP = this.shooter.wheelP; |
| 31 | this.wheelI = this.shooter.wheelI; |
| 32 | this.wheelD = this.shooter.wheelD; |
| 33 | this.wheelController = new PIDController(this.wheelP, this.wheelI, |
| 34 | this.wheelD); |
| 35 | this.wheelController.setDoneRange(0.5); |
| 36 | this.wheelController.setMaxOutput(1.0); |
| 37 | this.wheelController.setMinDoneCycles(3); |
| 38 | this.target = this.shooter.getCurrentShootingSpeed(); |
| 39 | } |
| 40 | |
| 41 | // Called just before this Command runs the first time |
| 42 | @Override |
| 43 | protected void initialize() { |
| 44 | this.wheelController.setSetPoint(this.target); |
| 45 | } |
| 46 | |
| 47 | // Called repeatedly when this Command is scheduled to run |
| 48 | @Override |
| 49 | protected void execute() { |
| 50 | double calculatedShooterIncrement = this.wheelController |
| 51 | .calcPID(this.shooter.getShooterRPM()); |
| 52 | shooterSpeed += calculatedShooterIncrement; |
| 53 | this.shooter.setFlyWheelMotorVal(shooterSpeed); |
| 54 | } |
| 55 | |
| 56 | // Make this return true when this Command no longer needs to run execute() |
| 57 | @Override |
| 58 | protected boolean isFinished() { |
| 59 | return timeSinceInitialized() >= maxTimeOut; |
| 60 | } |
| 61 | |
| 62 | // Called once after isFinished returns true |
| 63 | @Override |
| 64 | protected void end() { |
| 65 | this.shooter.stopFlyWheel(); |
| 66 | } |
| 67 | |
| 68 | // Called when another command which requires one or more of the same |
| 69 | // subsystems is scheduled to run |
| 70 | @Override |
| 71 | protected void interrupted() { |
| 72 | } |
| 73 | } |