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