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 = 10;
  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     driveStraightGyroP = SmartDashboard.getNumber(driveTrain.DRIVE_GYRO_P_Val,
  32         driveTrain.PID_ERROR);
  33
  34     this.driveController = driveTrain.getDriveController();
  35     this.driveController.setDoneRange(0.5);
  36     this.driveController.setMaxOutput(1.1);
  37     this.driveController.setMinDoneCycles(5);
  38   }
  39
  40   @Override
  41   protected void initialize() {
  42     this.driveTrain.resetEncoders();
  43     this.driveController.setSetPoint(this.target);
  44   }
  45
  46   @Override
  47   protected void execute() {
  48     double xVal = driveStraightGyroP * (driveTrain.getAngle() - zeroAngle);
  49     double yVal = driveController.calcPID(driveTrain.getAvgEncoderDistance());
  50
  51     double leftDrive = yVal - xVal;
  52     double rightDrive = yVal + xVal;
  53     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  54
  55     System.out.println(
  56         "PID VALS: " + driveController.getP() + " " + driveController.getI()
  57             + " " + driveController.getD());
  58
  59     System.out.println(driveTrain.getAvgEncoderDistance());
  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 }