challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/shooter/StartUpFlyWheel.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  *
  11  */
  12 public class StartUpFlyWheel extends Command {
  13   private Shooter shooter = Robot.getShooter();
  14   private double maxTimeOut;
  15
  16   private PIDController wheelController;
  17   private double wheelP;
  18   private double wheelI;
  19   private double wheelD;
  20   private double motorVal;
  21   private double target;
  22
  23   public StartUpFlyWheel(double speed, double maxTimeOut) {
  24     // Use requires() here to declare subsystem dependencies
  25     // eg. requires(chassis);
  26     requires(shooter);
  27
  28     this.wheelP = this.shooter.wheelP;
  29     this.wheelI = this.shooter.wheelI;
  30     this.wheelD = this.shooter.wheelD;
  31     this.wheelController = new PIDController(this.wheelP, this.wheelI,
  32         this.wheelD);
  33     this.wheelController.setDoneRange(0.5);
  34     this.wheelController.setMaxOutput(1.0);
  35     this.wheelController.setMinDoneCycles(3);
  36     this.target = speed;
  37   }
  38
  39   // Called just before this Command runs the first time
  40   protected void initialize() {
  41     this.wheelController.setSetPoint(this.target);
  42   }
  43
  44   // Called repeatedly when this Command is scheduled to run
  45   protected void execute() {
  46     double shooterSpeed = this.wheelController
  47         .calcPID(this.shooter.getShooterSpeed());
  48
  49     this.shooter.setFlyWheelMotorVal(shooterSpeed);
  50   }
  51
  52   // Make this return true when this Command no longer needs to run execute()
  53   protected boolean isFinished() {
  54     boolean isDone = this.wheelController.isDone();
  55     if (timeSinceInitialized() >= maxTimeOut || isDone) {
  56       System.out.println("time: " + timeSinceInitialized());
  57       return true;
  58     }
  59     return false;
  60   }
  61
  62   // Called once after isFinished returns true
  63   protected void end() {
  64     this.shooter.stopFlyWheel();
  65   }
  66
  67   // Called when another command which requires one or more of the same
  68   // subsystems is scheduled to run
  69   protected void interrupted() {
  70     end();
  71   }
  72 }