finish implement driveDistance and TurnForAngle using PID algorithm

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / driving / TurnForAngle.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
index 334fa0b67d278ad2dd38afe3be68d54fd6487b09..86176f15fe9e3b03ebaf0ac447af00f597f1cb17 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
@@ -1,7 +1,10 @@
 package org.usfirst.frc.team3501.robot.commands.driving;
 
+import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.Constants.Direction;
 import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import org.usfirst.frc.team3501.robot.utils.PIDController;
 
 import edu.wpi.first.wpilibj.command.Command;
 
@@ -9,41 +12,75 @@ import edu.wpi.first.wpilibj.command.Command;
  * This command turns the robot for a specified angle in specified direction -
  * either left or right
  *
- * parameters:
- * angle: the robot will turn - in degrees
- * direction: the robot will turn - either right or left
- * motorVal: the motor input to set the motors to
+ * parameters: angle: the robot will turn - in degrees direction: the robot will
+ * turn - either right or left maxTimeOut: the max time this command will be
+ * allowed to run on for
  */
 public class TurnForAngle extends Command {
+  private DriveTrain driveTrain = Robot.getDriveTrain();
 
-  public TurnForAngle(double angle, Direction direction, double motorVal) {
+  Direction direction;
+  private double maxTimeOut;
+  private PIDController gyroController;
+
+  private double target;
+  private double gyroP;
+  private double gyroI;
+  private double gyroD;
+
+  public TurnForAngle(double angle, Direction direction, double maxTimeOut) {
     requires(Robot.getDriveTrain());
+    this.direction = direction;
+    this.maxTimeOut = maxTimeOut;
+    this.target = angle;
+
+    this.gyroP = driveTrain.defaultGyroP;
+    this.gyroI = driveTrain.defaultGyroI;
+    this.gyroD = driveTrain.defaultGyroD;
+
+    this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
+    this.gyroController.setDoneRange(1);
+    this.gyroController.setMinDoneCycles(5);
   }
 
-  // Called just before this Command runs the first time
   @Override
   protected void initialize() {
+    this.driveTrain.resetEncoders();
+    this.driveTrain.resetGyro();
+    this.gyroController.setSetPoint(this.target);
   }
 
-  // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    double xVal = 0;
+
+    xVal = this.gyroController
+        .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle());
+
+    double leftDrive;
+    double rightDrive;
+    if (direction == Constants.Direction.RIGHT) {
+      leftDrive = xVal;
+      rightDrive = -xVal;
+    } else {
+      leftDrive = -xVal;
+      rightDrive = xVal;
+    }
+
+    this.driveTrain.setMotorValues(leftDrive, rightDrive);
   }
 
-  // Make this return true when this Command no longer needs to run execute()
   @Override
   protected boolean isFinished() {
-    return false;
+    return timeSinceInitialized() >= maxTimeOut || gyroController.isDone();
   }
 
-  // Called once after isFinished returns true
   @Override
   protected void end() {
   }
 
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
   @Override
   protected void interrupted() {
+    end();
   }
 }