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
  10 /**
  11  * This command makes the robot drive a specified distance using encoders on the
  12  * robot and using a feedback loop
  13  *
  14  * parameters: distance the robot will move in inches motorVal: the motor input
  15  * to set the motors to
  16  */
  17 public class DriveDistance extends Command {
  18   private DriveTrain driveTrain = Robot.getDriveTrain();
  19   private double maxTimeOut;
  20   private PIDController driveController;
  21   private PIDController gyroController;
  22   private Preferences prefs;
  23
  24   private double target;
  25   private double gyroP;
  26   private double gyroI;
  27   private double gyroD;
  28
  29   private double driveP;
  30   private double driveI;
  31   private double driveD;
  32
  33   public DriveDistance(double distance, double maxTimeOut) {
  34     requires(driveTrain);
  35     this.maxTimeOut = maxTimeOut;
  36     this.target = distance;
  37
  38   private double target;
  39   private double gyroP;
  40   private double gyroI;
  41   private double gyroD;
  42
  43   private double driveP;
  44   private double driveI;
  45   private double driveD;
  46
  47   public DriveDistance(double distance, double motorVal) {
  48     requires(driveTrain);
  49     this.maxTimeOut = maxTimeOut;
  50     this.target = distance;
  51
  52     this.driveP = driveTrain.driveP;
  53     this.driveI = driveTrain.driveI;
  54     this.driveD = driveTrain.driveD;
  55     this.gyroP = driveTrain.defaultGyroP;
  56     this.gyroI = driveTrain.defaultGyroI;
  57     this.gyroD = driveTrain.defaultGyroD;
  58     this.driveController = new PIDController(this.driveP, this.driveI,
  59         this.driveD);
  60     this.driveController.setDoneRange(0.5);
  61     this.driveController.setMaxOutput(1.0);
  62     this.driveController.setMinDoneCycles(5);
  63
  64     this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
  65     this.gyroController.setDoneRange(1);
  66     this.gyroController.setMinDoneCycles(5);
  67   }
  68
  69   @Override
  70   protected void initialize() {
  71     this.driveTrain.resetEncoders();
  72     this.driveTrain.resetGyro();
  73     this.driveController.setSetPoint(this.target);
  74     this.gyroController.setSetPoint(this.driveTrain.getZeroAngle());
  75   }
  76
  77   @Override
  78   protected void execute() {
  79     double xVal = 0;
  80     double yVal = this.driveController
  81         .calcPID(this.driveTrain.getAvgEncoderDistance());
  82
  83     if (this.driveTrain.getAngle() - this.driveTrain.getZeroAngle() < 30) {
  84       xVal = -this.gyroController
  85           .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle());
  86     }
  87     double leftDrive = yVal - xVal;
  88     double rightDrive = yVal + xVal;
  89
  90     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  91
  92     driveTrain.printEncoderOutput();
  93     // System.out.println("turn: " + xVal);
  94     double leftDrive = yVal - xVal;
  95     double rightDrive = yVal + xVal;
  96
  97     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  98
  99     driveTrain.printEncoderOutput();
 100     // System.out.println("motorval: " + yVal);
 101   }
 102
 103   @Override
 104   protected boolean isFinished() {
 105     boolean isDone = this.driveController.isDone();
 106     if (timeSinceInitialized() >= maxTimeOut || isDone)
 107       System.out.println("time: " + timeSinceInitialized());
 108     return timeSinceInitialized() >= maxTimeOut || isDone;
 109   }
 110
 111   @Override
 112   protected void end() {
 113     driveTrain.stop();
 114   }
 115
 116   @Override
 117   protected void interrupted() {
 118     end();
 119   }
 120 }