modify RunFlyWheel and RunFlyWheelContinuous 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 1f1d5cd9d1f25a28dcd34e3be33684a583e16ec8..5e65b3d3a57adad7d08c8ea9c96859c0c56b2af6 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -2,6 +2,7 @@ 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;
 
@@ -20,42 +21,54 @@ import edu.wpi.first.wpilibj.command.Command;
 public class RunFlyWheelContinuous extends Command {
   private Shooter shooter = Robot.getShooter();
 
-  /**
-   * See JavaDoc comment in class for details
-   *
-   * @param motorVal
-   *          value range from -1 to 1
-   */
+  private PIDController wheelController;
+  private double wheelP;
+  private double wheelI;
+  private double wheelD;
+  private double target;
+
   public RunFlyWheelContinuous() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
     requires(shooter);
+
+    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.CURRENT_SHOOTING_SPEED;
   }
 
   // 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 shooterSpeed = this.wheelController
+        .calcPID(this.shooter.getShooterSpeed());
+
+    this.shooter.setFlyWheelMotorVal(shooterSpeed);
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  protected boolean isFinished() {
+    return false;
   }
 
   // Called once after isFinished returns true
-  @Override
   protected void end() {
+    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 false;
-  }
-
 }