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 maxTimeOut) {
  35     requires(driveTrain);
  36     this.maxTimeOut = maxTimeOut;
  37     this.target = distance;
  38
  39   private double target;
  40   private double gyroP;
  41   private double gyroI;
  42   private double gyroD;
  43
  44   private double driveP;
  45   private double driveI;
  46   private double driveD;
  47
  48   public DriveDistance(double distance, double motorVal) {
  49     requires(driveTrain);
  50     this.driveP = driveTrain.driveP;
  51     this.driveI = driveTrain.driveI;
  52     this.driveD = driveTrain.driveD;
  53     this.gyroP = driveTrain.defaultGyroP;
  54     this.gyroI = driveTrain.defaultGyroI;
  55     this.gyroD = driveTrain.defaultGyroD;
  56     this.driveController = new PIDController(this.driveP, this.driveI,
  57         this.driveD);
  58     this.driveController.setDoneRange(0.5);
  59     this.driveController.setMaxOutput(1.0);
  60     this.driveController.setMinDoneCycles(5);
  61
  62     this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
  63     this.gyroController.setDoneRange(1);
  64     this.gyroController.setMinDoneCycles(5);
  65   }
  66
  67   @Override
  68   protected void initialize() {
  69     this.driveTrain.resetEncoders();
  70     this.driveTrain.resetGyro();
  71     this.driveController.setSetPoint(this.target);
  72     this.gyroController.setSetPoint(this.driveTrain.getZeroAngle());
  73   }
  74
  75   @Override
  76   protected void execute() {
  77     double xVal = 0;
  78     double yVal = this.driveController
  79         .calcPID(this.driveTrain.getAvgEncoderDistance());
  80
  81     if (this.driveTrain.getAngle() - this.driveTrain.getZeroAngle() < 30) {
  82       xVal = -this.gyroController
  83           .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle());
  84     }
  85     double leftDrive = yVal - xVal;
  86     double rightDrive = yVal + xVal;
  87
  88     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  89
  90     driveTrain.printEncoderOutput();
  91     // System.out.println("turn: " + xVal);
  92     double leftDrive = MathLib.calcLeftTankDrive(-xVal, yVal);
  93     double rightDrive = MathLib.calcRightTankDrive(xVal, -yVal);
  94
  95     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  96
  97     System.out.println(driveTrain.getAvgEncoderDistance());
  98     // System.out.println("motorval: " + yVal);
  99   }
 100
 101   @Override
 102   protected boolean isFinished() {
 103     boolean isDone = this.driveController.isDone();
 104     if (timeSinceInitialized() >= maxTimeOut || isDone)
 105       System.out.println("time: " + timeSinceInitialized());
 106     return timeSinceInitialized() >= maxTimeOut || isDone;
 107   }
 108
 109   @Override
 110   protected void end() {
 111     driveTrain.stop();
 112   }
 113
 114   @Override
 115   protected void interrupted() {
 116     end();
 117   }
 118 }