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 <<<<<<< 3921ddf563ce7727724494c62d65c2ca0e8ff8cc
  41     this.gyroController = Robot.getDriveTrain().getGyroController();
  42 =======
  43     this.gyroP = driveTrain.turnP;
  44     this.gyroI = driveTrain.turnI;
  45     this.gyroD = driveTrain.turnD;
  46
  47     this.gyroController = Robot.getDriveTrain().getDriveController();
  48 >>>>>>> update code
  49     this.gyroController.setDoneRange(1);
  50     this.gyroController.setMinDoneCycles(5);
  51   }
  52
  53   @Override
  54   protected void initialize() {
  55     this.driveTrain.resetEncoders();
  56     this.gyroController.setSetPoint(this.target);
  57     this.zeroAngle = driveTrain.getAngle();
  58   }
  59
  60   @Override
  61   protected void execute() {
  62     double xVal = 0;
  63
  64     xVal = this.gyroController
  65         .calcPID(Math.abs(this.driveTrain.getAngle() - this.zeroAngle));
  66
  67     double leftDrive = 0;
  68     double rightDrive = 0;
  69     if (direction == Constants.Direction.RIGHT) {
  70       leftDrive = xVal;
  71       rightDrive = -xVal;
  72     } else if (direction == Constants.Direction.LEFT) {
  73       leftDrive = -xVal;
  74       rightDrive = xVal;
  75     }
  76
  77     this.driveTrain.setMotorValues(leftDrive, rightDrive);
  78   }
  79
  80   @Override
  81   protected boolean isFinished() {
  82     return timeSinceInitialized() >= maxTimeOut || gyroController.isDone();
  83   }
  84
  85   @Override
  86   protected void end() {
  87   }
  88
  89   @Override
  90   protected void interrupted() {
  91     end();
  92   }
  93 }