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 given speed for a given time. The fly
  12  * wheel is intended to shoot balls fed by the intake wheel.
  13  *
  14  * @author Shaina & Chris
  15  */
  16 public class RunFlyWheel extends Command {
  17   private Shooter shooter = Robot.getShooter();
  18   private double maxTimeOut;
  19
  20   private PIDController wheelController;
  21   private double wheelP;
  22   private double wheelI;
  23   private double wheelD;
  24   private double target;
  25
  26   public RunFlyWheel(double maxTimeOut) {
  27     requires(shooter);
  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.CURRENT_SHOOTING_SPEED;
  38   }
  39
  40   // Called just before this Command runs the first time
  41   protected void initialize() {
  42     this.wheelController.setSetPoint(this.target);
  43   }
  44
  45   // Called repeatedly when this Command is scheduled to run
  46   protected void execute() {
  47     double shooterSpeed = this.wheelController
  48         .calcPID(this.shooter.getShooterSpeed());
  49
  50     this.shooter.setFlyWheelMotorVal(shooterSpeed);
  51   }
  52
  53   // Make this return true when this Command no longer needs to run execute()
  54   protected boolean isFinished() {
  55     return timeSinceInitialized() >= maxTimeOut;
  56   }
  57
  58   // Called once after isFinished returns true
  59   protected void end() {
  60     this.shooter.stopFlyWheel();
  61   }
  62
  63   // Called when another command which requires one or more of the same
  64   // subsystems is scheduled to run
  65   protected void interrupted() {
  66     end();
  67   }
  68 }