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
  36     this.gyroController = Robot.getDriveTrain().getGyroController();
  37     this.gyroController.setDoneRange(1);
  38     this.gyroController.setMinDoneCycles(5);
  39   }
  40
  41   @Override
  42   protected void initialize() {
  43     this.driveTrain.resetEncoders();
  44     this.gyroController.setSetPoint(this.target);
  45     this.zeroAngle = driveTrain.getAngle();
  46   }
  47
  48   @Override
  49   protected void execute() {
  50     double xVal = 0;
  51
  52     xVal = this.gyroController
  53         .calcPID(Math.abs(this.driveTrain.getAngle() - this.zeroAngle));
  54
  55     double leftDrive = 0;
  56     double rightDrive = 0;
  57     if (direction == Constants.Direction.RIGHT) {
  58       leftDrive = xVal;
  59       rightDrive = -xVal;
  60     } else if (direction == Constants.Direction.LEFT) {
  61       leftDrive = -xVal;
  62       rightDrive = xVal;
  63     }
  64
  65     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  66   }
  67
  68   @Override
  69   protected boolean isFinished() {
  70     return timeSinceInitialized() >= maxTimeOut || gyroController.isDone();
  71   }
  72
  73   @Override
  74   protected void end() {
  75   }
  76
  77   @Override
  78   protected void interrupted() {
  79     end();
  80   }
  81 }