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     requires(shooter);
  29
  30     this.wheelP = this.shooter.wheelP;
  31     this.wheelI = this.shooter.wheelI;
  32     this.wheelD = this.shooter.wheelD;
  33     this.wheelController = new PIDController(this.wheelP, this.wheelI,
  34         this.wheelD);
  35     this.wheelController.setDoneRange(0.5);
  36     this.wheelController.setMaxOutput(1.0);
  37     this.wheelController.setMinDoneCycles(3);
  38     this.target = this.shooter.CURRENT_SHOOTING_SPEED;
  39   }
  40
  41   // Called just before this Command runs the first time
  42   protected void initialize() {
  43     this.wheelController.setSetPoint(this.target);
  44   }
  45
  46   // Called repeatedly when this Command is scheduled to run
  47   protected void execute() {
  48     double shooterSpeed = this.wheelController
  49         .calcPID(this.shooter.getShooterSpeed());
  50
  51     this.shooter.setFlyWheelMotorVal(shooterSpeed);
  52   }
  53
  54   // Make this return true when this Command no longer needs to run execute()
  55   protected boolean isFinished() {
  56     return timeSinceInitialized() >= maxTimeOut;
  57   }
  58
  59   // Called once after isFinished returns true
  60   protected void end() {
  61     this.shooter.stopFlyWheel();
  62   }
  63
  64   // Called when another command which requires one or more of the same
  65   // subsystems is scheduled to run
  66   protected void interrupted() {
  67     end();
  68   }
  69 }