fix shooter commands

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
index edb926e9517ecf118771b48a550bfa7192798aae..047fad40885a8e2f5caad590004cab64493dc5bb 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -1,47 +1,74 @@
 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;
 
 /**
- * Runs fly wheel continuously when corresponding button pressed
+ * 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.
  *
- * Run stopFlyWheel command to stop
+ * pre-condition: This command must be run by a button in OI, with
+ * button.whileHeld(...).
  *
- * @param motorVal
- *          [-1,1]
- * @author shaina
+ * @author Shaina & Chris
  */
 public class RunFlyWheelContinuous extends Command {
-  private double motorVal;
+  private Shooter shooter = Robot.getShooter();
+
+  private PIDController wheelController;
+  private double wheelP;
+  private double wheelI;
+  private double wheelD;
+  private double target;
+  double shooterSpeed = 0;
 
-  public RunFlyWheelContinuous(double motorVal) {
-    this.motorVal = motorVal;
+  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() {
+    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() {
+  protected void end() {
+    this.shooter.stopFlyWheel();
   }
 
   @Override
-  protected boolean isFinished() {
-    return false;
+  protected void interrupted() {
+    end();
   }
-
 }