+
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;
* 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;
- }
-
}
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 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;
- }
-
}
+++ /dev/null
-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();
- }
-}
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;
}
public double getShooterSpeed() {
- return 1.0;
+ return 0.0;
}
}