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 continuously when OI button managing fly
- * wheel is pressed. The command will run the fly wheel motor until the button
- * triggering it is released.
+ * This command runs the fly wheel continuously at a set speed using a PID
+ * Controller when OI button managing fly wheel is pressed. The command will run
+ * the fly wheel motor until the button triggering it is released.
*
* Should only be run from the operator interface.
*
* pre-condition: This command must be run by a button in OI, with
* button.whileHeld(...).
*
- * @author Shaina
+ * @author Shaina & Chris
*/
public class RunFlyWheelContinuous extends Command {
- private double motorVal;
+ private Shooter shooter = Robot.getShooter();
- /**
- * See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
- */
- public RunFlyWheelContinuous(double motorVal) {
- this.motorVal = motorVal;
+ private PIDController wheelController;
+ private double wheelP;
+ private double wheelI;
+ private double wheelD;
+ private double target;
+ double shooterSpeed = 0;
+
+ public RunFlyWheelContinuous() {
+ 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(10);
+ this.wheelController.setMaxOutput(1.0);
+ this.wheelController.setMinDoneCycles(3);
+ this.target = 2700;
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
- Robot.getShooter().setFlyWheelMotorVal(motorVal);
+ this.wheelController.setSetPoint(this.target);
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
+ double calculatedShooterIncrement = this.wheelController
+ .calcPID(this.shooter.getShooterRPM());
+ shooterSpeed += calculatedShooterIncrement;
+ if (shooterSpeed > 1.0)
+ this.shooter.setFlyWheelMotorVal(1.0);
+ else
+ this.shooter.setFlyWheelMotorVal(shooterSpeed);
+ // this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
}
- // Called once after isFinished returns true
@Override
- protected void end() {
+ protected boolean isFinished() {
+ return false;
}
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
@Override
- protected void interrupted() {
- end();
+ protected void end() {
+ this.shooter.stopFlyWheel();
}
@Override
- protected boolean isFinished() {
-<<<<<<< 7fe535d58b388a1d87b3728095d8a38786865468
- return false;
-=======
- // TODO
- return !Robot.getOI().toggleFlyWheel.get();
->>>>>>> Add buttons to OI class
+ protected void interrupted() {
+ end();
}
-
}