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 double target;
  21   private double zeroAngle;
  22   private Preferences prefs;
  23   private PIDController driveController;
  24
  25   private double driveP;
  26   private double driveI;
  27   private double driveD;
  28   private double gyroP;
  29
  30   public DriveDistance(double distance, double maxTimeOut) {
  31     requires(driveTrain);
  32     this.maxTimeOut = maxTimeOut;
  33     this.target = distance;
  34
  35     this.driveP = driveTrain.driveP;
  36     this.driveI = driveTrain.driveI;
  37     this.driveD = driveTrain.driveD;
  38     this.gyroP = driveTrain.driveStraightGyroP;
  39     this.driveController = new PIDController(driveP, driveI, driveD);
  40     this.driveController.setDoneRange(1.0);
  41     this.driveController.setMaxOutput(1.0);
  42     this.driveController.setMinDoneCycles(5);
  43   }
  44
  45   @Override
  46   protected void initialize() {
  47     this.driveTrain.resetEncoders();
  48     this.driveController.setSetPoint(this.target);
  49     this.zeroAngle = driveTrain.getAngle();
  50   }
  51
  52   @Override
  53   protected void execute() {
  54     double xVal = gyroP * (driveTrain.getAngle() - zeroAngle);
  55     double yVal = driveController.calcPID(driveTrain.getRightEncoderDistance());
  56
  57     double leftDrive = yVal - xVal;
  58     double rightDrive = yVal + xVal;
  59     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  60   }
  61
  62   @Override
  63   protected boolean isFinished() {
  64     return timeSinceInitialized() >= maxTimeOut
  65         || this.driveController.isDone();
  66   }
  67
  68   @Override
  69   protected void end() {
  70   }
  71
  72   @Override
  73   protected void interrupted() {
  74     end();
  75   }
  76 }