@Override
protected void initialize() {
- shooter.decrementCurrentShootingSpeed();
+ shooter.decrementTargetShootingSpeed();
}
@Override
@Override
protected void initialize() {
- shooter.incrementCurrentShootingSpeed();
+ shooter.incrementTargetShootingSpeed();
}
@Override
@Override
protected void initialize() {
- shooter.resetCurrentShootingSpeed();
+ shooter.resetTargetShootingSpeed();
}
@Override
-
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
import edu.wpi.first.wpilibj.command.Command;
/**
- * 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.
+ * 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 RunFlyWheel extends Command {
private Shooter shooter = Robot.getShooter();
- private double maxTimeOut;
+ double time;
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();
+ public RunFlyWheel(double time) {
+ this.time = time;
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
- this.wheelController.setSetPoint(this.target);
+ shooter.initializePIDController();
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
- double calculatedShooterIncrement = this.wheelController
- .calcPID(this.shooter.getShooterRPM());
- shooterSpeed += calculatedShooterIncrement;
- this.shooter.setFlyWheelMotorVal(shooterSpeed);
+ shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
}
- // Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
- return timeSinceInitialized() >= maxTimeOut;
+ return timeSinceInitialized() >= time;
}
- // 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();
}
}
private Shooter shooter = Robot.getShooter();
private PIDController wheelController;
- private double wheelP;
- private double wheelI;
- private double wheelD;
- private double target;
- private 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 = shooter.getCurrentShootingSpeed();
}
@Override
protected void initialize() {
- this.wheelController.setSetPoint(this.target);
+ shooter.initializePIDController();
}
@Override
protected void execute() {
- double calculatedShooterIncrement = this.wheelController
- .calcPID(this.shooter.getShooterRPM());
- shooterSpeed += calculatedShooterIncrement;
- this.shooter.setFlyWheelMotorVal(shooterSpeed);
+ shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
}
@Override
@Override
protected void execute() {
double shooterSpeed = shooter.getShooterRPM();
- if (shooterSpeed > 0)
+ double targetShooterSpeed = shooter.getTargetShootingSpeed();
+ double threshold = shooter.getRPMThreshold();
+ if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
shooter.runIndexWheel();
}
package org.usfirst.frc.team3501.robot.commands.shooter;
+import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
/**
* See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
*/
public RunIndexWheelContinuous() {
requires(shooter);
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
double shooterSpeed = shooter.getShooterRPM();
- if (shooterSpeed > 0)
- shooter.runIndexWheel();
+ double targetShooterSpeed = shooter.getTargetShootingSpeed();
+ double threshold = shooter.getRPMThreshold();
+ // if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+
+ if (timeSinceInitialized() % 0.5 <= 0.02) {
+
+ if (Robot.getDriveTrain()
+ .getLeftGearPistonValue() == Constants.DriveTrain.LOW_GEAR) {
+ System.out.println("shifting to low gear " + timeSinceInitialized());
+ Robot.getDriveTrain().setHighGear();
+ } else {
+ System.out.println("shifting to high gear " + timeSinceInitialized());
+ Robot.getDriveTrain().setLowGear();
+ }
+ }
+ shooter.runIndexWheel();
}
- // Called once after isFinished returns true
@Override
protected void end() {
shooter.stopIndexWheel();
}
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
@Override
protected void interrupted() {
end();
import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.MathLib;
import org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
+import org.usfirst.frc.team3501.robot.utils.PIDController;
import com.ctre.CANTalon;
import edu.wpi.first.wpilibj.command.Subsystem;
public class Shooter extends Subsystem {
- public double wheelP = 0.0001, wheelI = 0, wheelD = 0.0004;
+ public double wheelP = 0.00007, wheelI = 0, wheelD = 0.0008;
private static Shooter shooter;
private static HallEffectSensor hallEffect;
private final CANTalon flyWheel1, flyWheel2, indexWheel;
- private static final double DEFAULT_INDEXING_SPEED = -0.75;
+ private PIDController wheelController;
+
+ private static final double RPM_THRESHOLD = 10;
+ private static final double DEFAULT_INDEXING_MOTOR_VALUE = -0.75;
private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
private static final double SHOOTING_SPEED_INCREMENT = 25;
- private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
+ private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
+ private double currentShooterMotorValue = 0;
private Shooter() {
flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
}
+ public double getRPMThreshold() {
+ return RPM_THRESHOLD;
+ }
+
public double getShooterRPM() {
return hallEffect.getRPM();
}
- public void setCurrentShootingSpeed(double Value) {
- currentShootingSpeed = Value;
+ public void setTargetShootingSpeed(double Value) {
+ targetShootingSpeed = Value;
}
- public void decrementCurrentShootingSpeed() {
- this.currentShootingSpeed -= this.SHOOTING_SPEED_INCREMENT;
+ public void decrementTargetShootingSpeed() {
+ this.targetShootingSpeed -= this.SHOOTING_SPEED_INCREMENT;
}
- public void incrementCurrentShootingSpeed() {
- this.currentShootingSpeed += this.SHOOTING_SPEED_INCREMENT;
+ public void incrementTargetShootingSpeed() {
+ this.targetShootingSpeed += this.SHOOTING_SPEED_INCREMENT;
}
- public void resetCurrentShootingSpeed() {
- this.currentShootingSpeed = this.DEFAULT_SHOOTING_SPEED;
+ public void resetTargetShootingSpeed() {
+ this.targetShootingSpeed = this.DEFAULT_SHOOTING_SPEED;
}
- public double getCurrentShootingSpeed() {
- return currentShootingSpeed;
+ public double getTargetShootingSpeed() {
+ return targetShootingSpeed;
}
public void reverseIndexWheel() {
- this.setIndexWheelMotorVal(-DEFAULT_INDEXING_SPEED);
+ this.setIndexWheelMotorVal(-DEFAULT_INDEXING_MOTOR_VALUE);
}
public void runIndexWheel() {
- this.setIndexWheelMotorVal(DEFAULT_INDEXING_SPEED);
+ this.setIndexWheelMotorVal(DEFAULT_INDEXING_MOTOR_VALUE);
+ }
+
+ public double calculateShooterSpeed() {
+ this.wheelController.setSetPoint(targetShootingSpeed);
+ double calculatedShooterIncrement = this.wheelController
+ .calcPID(this.getShooterRPM());
+ currentShooterMotorValue += calculatedShooterIncrement;
+ return currentShooterMotorValue;
+ }
+
+ public void initializePIDController() {
+ this.wheelController = new PIDController(wheelP, wheelI, wheelD);
+ this.wheelController.setDoneRange(10);
+ this.wheelController.setMaxOutput(1.0);
+ this.wheelController.setMinDoneCycles(3);
+ this.wheelController.setSetPoint(this.targetShootingSpeed);
+ this.currentShooterMotorValue = 0;
}
}
projects / 3501 / 2017steamworks / commitdiff