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

   1 package org.usfirst.frc.team3501.robot.commands.shooter;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   5 import org.usfirst.frc.team3501.robot.utils.PIDController;
   6
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 /**
  10  * This command runs the fly wheel continuously when OI button managing fly
  11  * wheel is pressed. The command will run the fly wheel motor until the button
  12  * triggering it is released.
  13  *
  14  * Should only be run from the operator interface.
  15  *
  16  * pre-condition: This command must be run by a button in OI, with
  17  * button.whileHeld(...).
  18  *
  19  * @author Shaina
  20  */
  21 public class RunFlyWheelContinuous extends Command {
  22   private Shooter shooter = Robot.getShooter();
  23
  24   private PIDController wheelController;
  25   private double wheelP;
  26   private double wheelI;
  27   private double wheelD;
  28   private double target;
  29
  30   public RunFlyWheelContinuous() {
  31     // Use requires() here to declare subsystem dependencies
  32     // eg. requires(chassis);
  33     requires(shooter);
  34
  35     this.wheelP = this.shooter.wheelP;
  36     this.wheelI = this.shooter.wheelI;
  37     this.wheelD = this.shooter.wheelD;
  38     this.wheelController = new PIDController(this.wheelP, this.wheelI,
  39         this.wheelD);
  40     this.wheelController.setDoneRange(0.5);
  41     this.wheelController.setMaxOutput(1.0);
  42     this.wheelController.setMinDoneCycles(3);
  43     this.target = this.shooter.CURRENT_SHOOTING_SPEED;
  44   }
  45
  46   // Called just before this Command runs the first time
  47   protected void initialize() {
  48     this.wheelController.setSetPoint(this.target);
  49   }
  50
  51   // Called repeatedly when this Command is scheduled to run
  52   protected void execute() {
  53     double shooterSpeed = this.wheelController
  54         .calcPID(this.shooter.getShooterSpeed());
  55
  56     this.shooter.setFlyWheelMotorVal(shooterSpeed);
  57   }
  58
  59   // Make this return true when this Command no longer needs to run execute()
  60   protected boolean isFinished() {
  61     return false;
  62   }
  63
  64   // Called once after isFinished returns true
  65   protected void end() {
  66     this.shooter.stopFlyWheel();
  67   }
  68
  69   // Called when another command which requires one or more of the same
  70   // subsystems is scheduled to run
  71   protected void interrupted() {
  72     end();
  73   }
  74 }