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
  30   public RunFlyWheelContinuous() {
  31     this.wheelP = this.shooter.wheelP;
  32     this.wheelI = this.shooter.wheelI;
  33     this.wheelD = this.shooter.wheelD;
  34     this.wheelController = new PIDController(this.wheelP, this.wheelI,
  35         this.wheelD);
  36     this.wheelController.setDoneRange(0.5);
  37     this.wheelController.setMaxOutput(1.0);
  38     this.wheelController.setMinDoneCycles(3);
  39     this.target = this.shooter.getCurrentShootingSpeed();
  40   }
  41
  42   @Override
  43   protected void initialize() {
  44     this.wheelController.setSetPoint(this.target);
  45   }
  46
  47   @Override
  48   protected void execute() {
  49     // double shooterSpeed = this.wheelController
  50     // .calcPID(this.shooter.getShooterRPM());
  51     //
  52     // this.shooter.setFlyWheelMotorVal(shooterSpeed);
  53     System.out.println(shooter.getShooterRPM());
  54     this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
  55   }
  56
  57   @Override
  58   protected boolean isFinished() {
  59     return false;
  60   }
  61
  62   @Override
  63   protected void end() {
  64     this.shooter.stopFlyWheel();
  65   }
  66
  67   @Override
  68   protected void interrupted() {
  69     end();
  70   }
  71 }