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   private double shooterSpeed = 0;
  27
  28   public RunFlyWheel(double maxTimeOut) {
  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.getCurrentShootingSpeed();
  39   }
  40
  41   // Called just before this Command runs the first time
  42   @Override
  43   protected void initialize() {
  44     this.wheelController.setSetPoint(this.target);
  45   }
  46
  47   // Called repeatedly when this Command is scheduled to run
  48   @Override
  49   protected void execute() {
  50     double calculatedShooterIncrement = this.wheelController
  51         .calcPID(this.shooter.getShooterRPM());
  52     shooterSpeed += calculatedShooterIncrement;
  53     this.shooter.setFlyWheelMotorVal(shooterSpeed);
  54   }
  55
  56   // Make this return true when this Command no longer needs to run execute()
  57   @Override
  58   protected boolean isFinished() {
  59     return timeSinceInitialized() >= maxTimeOut;
  60   }
  61
  62   // Called once after isFinished returns true
  63   @Override
  64   protected void end() {
  65     this.shooter.stopFlyWheel();
  66   }
  67
  68   // Called when another command which requires one or more of the same
  69   // subsystems is scheduled to run
  70   @Override
  71   protected void interrupted() {
  72   }
  73 }