challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java

   1 package org.usfirst.frc.team3501.robot.commands.driving;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   5 import org.usfirst.frc.team3501.robot.utils.PIDController;
   6
   7 import edu.wpi.first.wpilibj.Preferences;
   8 import edu.wpi.first.wpilibj.command.Command;
   9 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  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 double target;
  22   private double zeroAngle;
  23   private Preferences prefs;
  24   private PIDController driveController;
  25
  26   private double driveStraightGyroP;
  27
  28   public DriveDistance(double distance, double maxTimeOut) {
  29     requires(driveTrain);
  30     this.target = distance;
  31     this.maxTimeOut = maxTimeOut;
  32     driveStraightGyroP = SmartDashboard.getNumber(driveTrain.DRIVE_GYRO_P_Val,
  33         driveTrain.PID_ERROR);
  34
  35     this.driveController = driveTrain.getDriveController();
  36     this.driveController.setDoneRange(0.5);
  37     this.driveController.setMaxOutput(1.0);
  38     this.driveController.setMinDoneCycles(5);
  39   }
  40
  41   @Override
  42   protected void initialize() {
  43     this.driveTrain.resetEncoders();
  44     this.driveController.setSetPoint(this.target);
  45     zeroAngle = driveTrain.getAngle();
  46   }
  47
  48   @Override
  49   protected void execute() {
  50     System.out.printf("angle: %.2f\t", driveTrain.getAngle() - zeroAngle);
  51     double xVal = driveStraightGyroP * (driveTrain.getAngle() - zeroAngle);
  52     double yVal = driveController.calcPID(driveTrain.getAvgEncoderDistance());
  53
  54     double leftDrive = yVal - xVal;
  55     double rightDrive = yVal + xVal;
  56     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  57
  58     // SmartDashboard.putNumber("x", xVal);
  59     // SmartDashboard.putNumber("y", yVal);
  60     //
  61     // SmartDashboard.putNumber("left", driveTrain.getLeftEncoderDistance());
  62     // SmartDashboard.putNumber("right", driveTrain.getRightEncoderDistance());
  63     //
  64     // System.out.printf("x: %.2f\t", xVal);
  65     // System.out.printf("y: %.2f\t", yVal);
  66     //
  67     // System.out.printf("dist: %.2f\n", driveTrain.getAvgEncoderDistance());
  68
  69   }
  70
  71   @Override
  72   protected boolean isFinished() {
  73     return timeSinceInitialized() >= maxTimeOut
  74         || this.driveController.isDone();
  75   }
  76
  77   @Override
  78   protected void end() {
  79   }
  80
  81   @Override
  82   protected void interrupted() {
  83     end();
  84   }
  85 }