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 at a set speed using a PID
  11  * Controller when OI button managing fly wheel is pressed. The command will run
  12  * the fly wheel motor until the button 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 & Chris
  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   private double shooterSpeed = 0;
  30
  31   public RunFlyWheelContinuous() {
  32     this.wheelP = this.shooter.wheelP;
  33     this.wheelI = this.shooter.wheelI;
  34     this.wheelD = this.shooter.wheelD;
  35     this.wheelController = new PIDController(this.wheelP, this.wheelI,
  36         this.wheelD);
  37     this.wheelController.setDoneRange(10);
  38     this.wheelController.setMaxOutput(1.0);
  39     this.wheelController.setMinDoneCycles(3);
  40     this.target = shooter.getCurrentShootingSpeed();
  41   }
  42
  43   @Override
  44   protected void initialize() {
  45     this.wheelController.setSetPoint(this.target);
  46   }
  47
  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   @Override
  57   protected boolean isFinished() {
  58     return false;
  59   }
  60
  61   @Override
  62   protected void end() {
  63     this.shooter.stopFlyWheel();
  64   }
  65
  66   @Override
  67   protected void interrupted() {
  68     end();
  69   }
  70 }