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

   1
   2 package org.usfirst.frc.team3501.robot.commands.shooter;
   3
   4 import org.usfirst.frc.team3501.robot.Robot;
   5 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   6 import org.usfirst.frc.team3501.robot.utils.PIDController;
   7
   8 import edu.wpi.first.wpilibj.command.Command;
   9
  10 /**
  11  * This command runs the fly wheel at a specific speed using a PID Controller
  12  * for accuracy for a given time. The fly wheel is intended to shoot balls fed
  13  * by the intake wheel.
  14  *
  15  * @author Shaina & Chris
  16  */
  17 public class RunFlyWheel extends Command {
  18   private Shooter shooter = Robot.getShooter();
  19   private double maxTimeOut;
  20
  21   private PIDController wheelController;
  22   private double wheelP;
  23   private double wheelI;
  24   private double wheelD;
  25   private double target;
  26
  27   public RunFlyWheel(double maxTimeOut) {
  28
  29     this.wheelP = this.shooter.wheelP;
  30     this.wheelI = this.shooter.wheelI;
  31     this.wheelD = this.shooter.wheelD;
  32     this.wheelController = new PIDController(this.wheelP, this.wheelI,
  33         this.wheelD);
  34     this.wheelController.setDoneRange(0.5);
  35     this.wheelController.setMaxOutput(1.0);
  36     this.wheelController.setMinDoneCycles(3);
  37     this.target = this.shooter.getCurrentShootingSpeed();
  38   }
  39
  40   // Called just before this Command runs the first time
  41   @Override
  42   protected void initialize() {
  43     this.wheelController.setSetPoint(this.target);
  44   }
  45
  46   // Called repeatedly when this Command is scheduled to run
  47   @Override
  48   protected void execute() {
  49     double shooterSpeed = this.wheelController
  50         .calcPID(this.shooter.getShooterRPM());
  51
  52     this.shooter.setFlyWheelMotorVal(shooterSpeed);
  53   }
  54
  55   // Make this return true when this Command no longer needs to run execute()
  56   @Override
  57   protected boolean isFinished() {
  58     return timeSinceInitialized() >= maxTimeOut;
  59   }
  60
  61   // Called once after isFinished returns true
  62   @Override
  63   protected void end() {
  64     this.shooter.stopFlyWheel();
  65   }
  66
  67   // Called when another command which requires one or more of the same
  68   // subsystems is scheduled to run
  69   @Override
  70   protected void interrupted() {
  71   }
  72 }