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   private double zeroAngle;
  32
  33   public TurnForAngle(double angle, Direction direction, double maxTimeOut) {
  34     requires(Robot.getDriveTrain());
  35     this.direction = direction;
  36     this.maxTimeOut = maxTimeOut;
  37     this.target = Math.abs(angle);
  38
  39     if (angle > 90) {
  40       this.gyroP = driveTrain.largeTurnP;
  41       this.gyroI = driveTrain.largeTurnI;
  42       this.gyroD = driveTrain.largeTurnD;
  43     } else {
  44       this.gyroP = driveTrain.smallTurnP;
  45       this.gyroI = driveTrain.smallTurnI;
  46       this.gyroD = driveTrain.smallTurnD;
  47     }
  48
  49     this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
  50     this.gyroController.setDoneRange(1);
  51     this.gyroController.setMinDoneCycles(5);
  52   }
  53
  54   @Override
  55   protected void initialize() {
  56     this.driveTrain.resetEncoders();
  57     this.gyroController.setSetPoint(this.target);
  58     this.zeroAngle = driveTrain.getAngle();
  59   }
  60
  61   @Override
  62   protected void execute() {
  63     double xVal = 0;
  64
  65     xVal = this.gyroController
  66         .calcPID(Math.abs(this.driveTrain.getAngle() - this.zeroAngle));
  67
  68     double leftDrive = 0;
  69     double rightDrive = 0;
  70     if (direction == Constants.Direction.RIGHT) {
  71       leftDrive = xVal;
  72       rightDrive = -xVal;
  73     } else if (direction == Constants.Direction.LEFT) {
  74       leftDrive = -xVal;
  75       rightDrive = xVal;
  76     }
  77
  78     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  79   }
  80
  81   @Override
  82   protected boolean isFinished() {
  83     return timeSinceInitialized() >= maxTimeOut || gyroController.isDone();
  84   }
  85
  86   @Override
  87   protected void end() {
  88   }
  89
  90   @Override
  91   protected void interrupted() {
  92     end();
  93   }
  94 }