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   private double gyroP;
  28   private double gyroI;
  29   private double gyroD;
  30
  31   public TurnForAngle(double angle, Direction direction, double maxTimeOut) {
  32     requires(Robot.getDriveTrain());
  33     this.direction = direction;
  34     this.maxTimeOut = maxTimeOut;
  35     this.target = angle;
  36
  37     this.gyroP = driveTrain.defaultGyroP;
  38     this.gyroI = driveTrain.defaultGyroI;
  39     this.gyroD = driveTrain.defaultGyroD;
  40
  41     this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
  42     this.gyroController.setDoneRange(1);
  43     this.gyroController.setMinDoneCycles(5);
  44   }
  45
  46   @Override
  47   protected void initialize() {
  48     this.driveTrain.resetEncoders();
  49     this.driveTrain.resetGyro();
  50     this.gyroController.setSetPoint(this.target);
  51   }
  52
  53   @Override
  54   protected void execute() {
  55     double xVal = 0;
  56
  57     xVal = this.gyroController
  58         .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle());
  59
  60     double leftDrive;
  61     double rightDrive;
  62     if (direction == Constants.Direction.RIGHT) {
  63       leftDrive = xVal;
  64       rightDrive = -xVal;
  65     } else {
  66       leftDrive = -xVal;
  67       rightDrive = xVal;
  68     }
  69
  70     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  71   }
  72
  73   @Override
  74   protected boolean isFinished() {
  75     return timeSinceInitialized() >= maxTimeOut || gyroController.isDone();
  76   }
  77
  78   @Override
  79   protected void end() {
  80   }
  81
  82   @Override
  83   protected void interrupted() {
  84     end();
  85   }
  86 }