Implement getter and setter methods for current shooting speed

[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 b4fd8df96dbdf36cda2bb986d7929e22ab4564aa..ff4f65960c69a50ad6114e7993260aa131bee7ff 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -1,40 +1,71 @@
 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 until ________
+ * 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 & Chris
  */
 public class RunFlyWheelContinuous extends Command {
-       public RunFlyWheelContinuous() {
+  private Shooter shooter = Robot.getShooter();
 
-       }
+  private PIDController wheelController;
+  private double wheelP;
+  private double wheelI;
+  private double wheelD;
+  private double target;
 
-       // Called just before this Command runs the first time
-       @Override
-       protected void initialize() {
-       }
+  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(0.5);
+    this.wheelController.setMaxOutput(1.0);
+    this.wheelController.setMinDoneCycles(3);
+    this.target = this.shooter.getCurrentShootingSpeed();
+  }
 
-       // Called repeatedly when this Command is scheduled to run
-       @Override
-       protected void execute() {
-       }
+  @Override
+  protected void initialize() {
+    this.wheelController.setSetPoint(this.target);
+  }
 
-       // Called once after isFinished returns true
-       @Override
-       protected void end() {
-       }
+  @Override
+  protected void execute() {
+    // double shooterSpeed = this.wheelController
+    // .calcPID(this.shooter.getShooterRPM());
+    //
+    // this.shooter.setFlyWheelMotorVal(shooterSpeed);
+    System.out.println(shooter.getShooterRPM());
+    this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
+  }
 
-       // Called when another command which requires one or more of the same
-       // subsystems is scheduled to run
-       @Override
-       protected void interrupted() {
-       }
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
 
-       @Override
-       protected boolean isFinished() {
-               // TODO Auto-generated method stub
-               return false;
-       }
+  @Override
+  protected void end() {
+    this.shooter.stopFlyWheel();
+  }
 
+  @Override
+  protected void interrupted() {
+    end();
+  }
 }