modify RunFlyWheel and RunFlyWheelContinuous commands

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index 6ac5d69f3e1934c557adde63add9c5a72d4c5982..d68b13eca0b71d3cc3024769ac8f56777da1cbbe 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@ -1,7 +1,9 @@
+
 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;
 
@@ -9,52 +11,58 @@ import edu.wpi.first.wpilibj.command.Command;
  * This command runs the fly wheel at a given speed for a given time. The fly
  * wheel is intended to shoot balls fed by the intake wheel.
  *
- * @author Shaina
+ * @author Shaina & Chris
  */
 public class RunFlyWheel extends Command {
   private Shooter shooter = Robot.getShooter();
-  private double time;
-
-  /**
-   * See JavaDoc comment in class for details
-   *
-   * @param motorVal
-   *          value range from -1 to 1
-   * @param time
-   *          in seconds, amount of time to run fly wheel motor
-   */
-  public RunFlyWheel(double time) {
+  private double maxTimeOut;
+
+  private PIDController wheelController;
+  private double wheelP;
+  private double wheelI;
+  private double wheelD;
+  private double target;
+
+  public RunFlyWheel(double maxTimeOut) {
     requires(shooter);
-    this.time = time;
+
+    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 timeSinceInitialized() >= maxTimeOut;
   }
 
   // Called once after isFinished returns true
-  @Override
   protected void end() {
-    shooter.stopFlyWheel();
+    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 timeSinceInitialized() >= time;
-  }
-
 }

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;
-  }
-
 }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/StartUpFlyWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/StartUpFlyWheel.java
deleted file mode 100644 (file)
index 414641b..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/StartUpFlyWheel.java
+++ /dev/null
@@ -1,72 +0,0 @@
-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;
-
-/**
- *
- */
-public class StartUpFlyWheel extends Command {
-  private Shooter shooter = Robot.getShooter();
-  private double maxTimeOut;
-
-  private PIDController wheelController;
-  private double wheelP;
-  private double wheelI;
-  private double wheelD;
-  private double motorVal;
-  private double target;
-
-  public StartUpFlyWheel(double speed, double maxTimeOut) {
-    // 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 = speed;
-  }
-
-  // Called just before this Command runs the first time
-  protected void initialize() {
-    this.wheelController.setSetPoint(this.target);
-  }
-
-  // Called repeatedly when this Command is scheduled to run
-  protected void execute() {
-    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() {
-    boolean isDone = this.wheelController.isDone();
-    if (timeSinceInitialized() >= maxTimeOut || isDone) {
-      System.out.println("time: " + timeSinceInitialized());
-      return true;
-    }
-    return false;
-  }
-
-  // Called once after isFinished returns true
-  protected void end() {
-    this.shooter.stopFlyWheel();
-  }
-
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  protected void interrupted() {
-    end();
-  }
-}

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index f39f1ff2754e284dcc4f38124e7465131a913b13..150ce5091a27713f73a63b970f06ee1274daa138 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -7,13 +7,13 @@ import com.ctre.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
-  public double wheelP = 0.005, wheelI = 0.001, wheelD = -0.003;
+  public double wheelP = 0, wheelI = 0, wheelD = -0;
   private static Shooter shooter;
   private final CANTalon flyWheel, indexWheel;
 
   public static final double DEFAULT_INDEXING_SPEED = 0;
   public static final double DEFAULT_SHOOTING_SPEED = 0;
-  public static double CURRENT_SHOOTING_SPEED;
+  public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
 
   public static final double SHOOTING_SPEED_INCREMENT = 0;
 
@@ -75,6 +75,6 @@ public class Shooter extends Subsystem {
   }
 
   public double getShooterSpeed() {
-    return 1.0;
+    return 0.0;
   }
 }