challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java

   1 package org.usfirst.frc.team3501.robot.commands.driving;
   2
   3 import org.usfirst.frc.team3501.robot.Constants;
   4 import org.usfirst.frc.team3501.robot.Constants.Direction;
   5 import org.usfirst.frc.team3501.robot.Robot;
   6 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   7 import org.usfirst.frc.team3501.robot.utils.PIDController;
   8
   9 import edu.wpi.first.wpilibj.command.Command;
  10
  11 /**
  12  * This command turns the robot for a specified angle in specified direction -
  13  * either left or right
  14  *
  15  * parameters: angle: the robot will turn - in degrees direction: the robot will
  16  * turn - either right or left maxTimeOut: the max time this command will be
  17  * allowed to run on for
  18  */
  19 public class TurnForAngle extends Command {
  20   private DriveTrain driveTrain = Robot.getDriveTrain();
  21
  22   Direction direction;
  23   private double maxTimeOut;
  24   private PIDController gyroController;
  25
  26   private double target;
  27
  28   private double zeroAngle;
  29
  30   public TurnForAngle(double angle, Direction direction, double maxTimeOut) {
  31     requires(Robot.getDriveTrain());
  32     this.direction = direction;
  33     this.maxTimeOut = maxTimeOut;
  34     this.target = Math.abs(angle);
  35 <<<<<<< HEAD
  36 =======
  37     this.zeroAngle = driveTrain.getAngle();
  38 >>>>>>> fix alot of unnecessary/not used code and init gyroController
  39
  40     this.gyroController = Robot.getDriveTrain().getGyroController();
  41     this.gyroController.setDoneRange(1);
  42     this.gyroController.setMinDoneCycles(5);
  43   }
  44
  45   @Override
  46   protected void initialize() {
  47     this.driveTrain.resetEncoders();
  48     this.gyroController.setSetPoint(this.target);
  49     this.zeroAngle = driveTrain.getAngle();
  50   }
  51
  52   @Override
  53   protected void execute() {
  54     double xVal = 0;
  55
  56     xVal = this.gyroController
  57         .calcPID(Math.abs(this.driveTrain.getAngle() - this.zeroAngle));
  58
  59     double leftDrive = 0;
  60     double rightDrive = 0;
  61     if (direction == Constants.Direction.RIGHT) {
  62       leftDrive = xVal;
  63       rightDrive = -xVal;
  64     } else if (direction == Constants.Direction.LEFT) {
  65       leftDrive = -xVal;
  66       rightDrive = xVal;
  67     }
  68
  69     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  70   }
  71
  72   @Override
  73   protected boolean isFinished() {
  74     return timeSinceInitialized() >= maxTimeOut || gyroController.isDone();
  75   }
  76
  77   @Override
  78   protected void end() {
  79   }
  80
  81   @Override
  82   protected void interrupted() {
  83     end();
  84   }
  85 }