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.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 motorVal) {
  35     requires(driveTrain);
  36     this.driveP = driveTrain.driveP;
  37     this.driveI = driveTrain.driveI;
  38     this.driveD = driveTrain.driveD;
  39     this.gyroP = driveTrain.defaultGyroP;
  40     this.gyroI = driveTrain.defaultGyroI;
  41     this.gyroD = driveTrain.defaultGyroD;
  42     this.driveController = new PIDController(this.driveP, this.driveI,
  43         this.driveD);
  44     this.driveController.setDoneRange(0.5);
  45     this.driveController.setMaxOutput(1.0);
  46     this.driveController.setMinDoneCycles(5);
  47
  48     this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
  49     this.gyroController.setDoneRange(1);
  50     this.gyroController.setMinDoneCycles(5);
  51   }
  52
  53   @Override
  54   protected void initialize() {
  55     this.driveTrain.resetEncoders();
  56     this.driveTrain.resetGyro();
  57     this.driveController.setSetPoint(this.target);
  58     this.gyroController.setSetPoint(this.driveTrain.getZeroAngle());
  59   }
  60
  61   @Override
  62   protected void execute() {
  63     double xVal = 0;
  64     double yVal = this.driveController
  65         .calcPID(this.driveTrain.getAvgEncoderDistance());
  66
  67     if (this.driveTrain.getAngle() - this.driveTrain.getZeroAngle() < 30) {
  68       xVal = -this.gyroController
  69           .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle());
  70     }
  71     // System.out.println("turn: " + xVal);
  72     double leftDrive = MathLib.calcLeftTankDrive(-xVal, yVal);
  73     double rightDrive = MathLib.calcRightTankDrive(xVal, -yVal);
  74
  75     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  76
  77     System.out.println(driveTrain.getAvgEncoderDistance());
  78     // System.out.println("motorval: " + yVal);
  79   }
  80
  81   @Override
  82   protected boolean isFinished() {
  83     boolean isDone = this.driveController.isDone();
  84     if (timeSinceInitialized() >= maxTimeOut || isDone)
  85       System.out.println("time: " + timeSinceInitialized());
  86     return timeSinceInitialized() >= maxTimeOut || isDone;
  87   }
  88
  89   @Override
  90   protected void end() {
  91     driveTrain.stop();
  92   }
  93
  94   @Override
  95   protected void interrupted() {
  96     end();
  97   }
  98 }