implement shooter pid

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / RunFlyWheel.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index 6ac5d69f3e1934c557adde63add9c5a72d4c5982..c5101fc7d0dea5e23353b3a6c6b890ad35247450 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@ -1,60 +1,73 @@
+
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
 import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import org.usfirst.frc.team3501.robot.utils.PIDController;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * This command runs the fly wheel at a given speed for a given time. The fly
- * wheel is intended to shoot balls fed by the intake wheel.
+ * This command runs the fly wheel at a specific speed using a PID Controller
+ * for accuracy for a given time. The fly wheel is intended to shoot balls fed
+ * by the intake wheel.
  *
- * @author Shaina
+ * @author Shaina & Chris
  */
 public class RunFlyWheel extends Command {
   private Shooter shooter = Robot.getShooter();
-  private double time;
-
-  /**
-   * See JavaDoc comment in class for details
-   *
-   * @param motorVal
-   *          value range from -1 to 1
-   * @param time
-   *          in seconds, amount of time to run fly wheel motor
-   */
-  public RunFlyWheel(double time) {
-    requires(shooter);
-    this.time = time;
+  private double maxTimeOut;
+
+  private PIDController wheelController;
+  private double wheelP;
+  private double wheelI;
+  private double wheelD;
+  private double target;
+  private double shooterSpeed = 0;
+
+  public RunFlyWheel(double maxTimeOut) {
+
+    this.wheelP = this.shooter.wheelP;
+    this.wheelI = this.shooter.wheelI;
+    this.wheelD = this.shooter.wheelD;
+    this.wheelController = new PIDController(this.wheelP, this.wheelI,
+        this.wheelD);
+    this.wheelController.setDoneRange(0.5);
+    this.wheelController.setMaxOutput(1.0);
+    this.wheelController.setMinDoneCycles(3);
+    this.target = this.shooter.getCurrentShootingSpeed();
   }
 
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
+    this.wheelController.setSetPoint(this.target);
   }
 
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
+    double calculatedShooterIncrement = this.wheelController
+        .calcPID(this.shooter.getShooterRPM());
+    shooterSpeed += calculatedShooterIncrement;
+    this.shooter.setFlyWheelMotorVal(shooterSpeed);
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return timeSinceInitialized() >= maxTimeOut;
   }
 
   // Called once after isFinished returns true
   @Override
   protected void end() {
-    shooter.stopFlyWheel();
+    this.shooter.stopFlyWheel();
   }
 
   // Called when another command which requires one or more of the same
   // subsystems is scheduled to run
   @Override
   protected void interrupted() {
-    end();
-  }
-
-  @Override
-  protected boolean isFinished() {
-    return timeSinceInitialized() >= time;
   }
-
 }