finish implement driveDistance and TurnForAngle using PID algorithm

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index a9dd0ffca26c681bc26f422abca97d940cea553a..5f4715cb6ac2e9b1fcb8a7e1bef891cc95163eae 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,6 +1,5 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.Intake;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
@@ -40,7 +39,6 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void autonomousInit() {
-    Scheduler.getInstance().add(new DriveDistance(25, 10));
   }
 
   @Override

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
index 5c0c20b92a7ee20f2a83d0fbaec3da6792462aba..b569958fafa4cb432d120f85a4b9981fed390e80 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
@@ -70,14 +70,12 @@ public class DriveDistance extends Command {
       xVal = -this.gyroController
           .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle());
     }
-    // System.out.println("turn: " + xVal);
     double leftDrive = yVal - xVal;
     double rightDrive = yVal + xVal;
 
     this.driveTrain.setMotorValues(leftDrive, rightDrive);
 
     driveTrain.printEncoderOutput();
-    // System.out.println("motorval: " + yVal);
   }
 
   @Override

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
index a56b1f3549a7b0017485fcd3764bd34b0a6249ff..d1e0f9c1f660f81f58e1310d668b689f146988c5 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -7,8 +7,8 @@ import edu.wpi.first.wpilibj.command.Command;
 
 /**
  * This command will run throughout teleop and listens for joystick inputs to
- * drive the driveTrain. This never finishes until teleop ends.
- * - works in conjunction with OI.java
+ * drive the driveTrain. This never finishes until teleop ends. - works in
+ * conjunction with OI.java
  */
 public class JoystickDrive extends Command {
 

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
index 334fa0b67d278ad2dd38afe3be68d54fd6487b09..86176f15fe9e3b03ebaf0ac447af00f597f1cb17 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
@@ -1,7 +1,10 @@
 package org.usfirst.frc.team3501.robot.commands.driving;
 
+import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.Constants.Direction;
 import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import org.usfirst.frc.team3501.robot.utils.PIDController;
 
 import edu.wpi.first.wpilibj.command.Command;
 
@@ -9,41 +12,75 @@ import edu.wpi.first.wpilibj.command.Command;
  * This command turns the robot for a specified angle in specified direction -
  * either left or right
  *
- * parameters:
- * angle: the robot will turn - in degrees
- * direction: the robot will turn - either right or left
- * motorVal: the motor input to set the motors to
+ * parameters: angle: the robot will turn - in degrees direction: the robot will
+ * turn - either right or left maxTimeOut: the max time this command will be
+ * allowed to run on for
  */
 public class TurnForAngle extends Command {
+  private DriveTrain driveTrain = Robot.getDriveTrain();
 
-  public TurnForAngle(double angle, Direction direction, double motorVal) {
+  Direction direction;
+  private double maxTimeOut;
+  private PIDController gyroController;
+
+  private double target;
+  private double gyroP;
+  private double gyroI;
+  private double gyroD;
+
+  public TurnForAngle(double angle, Direction direction, double maxTimeOut) {
     requires(Robot.getDriveTrain());
+    this.direction = direction;
+    this.maxTimeOut = maxTimeOut;
+    this.target = angle;
+
+    this.gyroP = driveTrain.defaultGyroP;
+    this.gyroI = driveTrain.defaultGyroI;
+    this.gyroD = driveTrain.defaultGyroD;
+
+    this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
+    this.gyroController.setDoneRange(1);
+    this.gyroController.setMinDoneCycles(5);
   }
 
-  // Called just before this Command runs the first time
   @Override
   protected void initialize() {
+    this.driveTrain.resetEncoders();
+    this.driveTrain.resetGyro();
+    this.gyroController.setSetPoint(this.target);
   }
 
-  // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    double xVal = 0;
+
+    xVal = this.gyroController
+        .calcPID(this.driveTrain.getAngle() - this.driveTrain.getZeroAngle());
+
+    double leftDrive;
+    double rightDrive;
+    if (direction == Constants.Direction.RIGHT) {
+      leftDrive = xVal;
+      rightDrive = -xVal;
+    } else {
+      leftDrive = -xVal;
+      rightDrive = xVal;
+    }
+
+    this.driveTrain.setMotorValues(leftDrive, rightDrive);
   }
 
-  // Make this return true when this Command no longer needs to run execute()
   @Override
   protected boolean isFinished() {
-    return false;
+    return timeSinceInitialized() >= maxTimeOut || gyroController.isDone();
   }
 
-  // Called once after isFinished returns true
   @Override
   protected void end() {
   }
 
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
   @Override
   protected void interrupted() {
+    end();
   }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 44744c4a078fa0f0edca7d3b0a6ca5e2290b481a..c445f630109f1d4d30067f6735fb65e8c5a6395c 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
   public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
-  public static double defaultGyroP = 0.009, defaultGyroI = 0.00000,
+  public static double defaultGyroP = 0.006, defaultGyroI = 0.00000,
       defaultGyroD = -0.000;
   private double gyroZero = 0;
 
@@ -77,20 +77,12 @@ public class DriveTrain extends Subsystem {
     setMotorValues(0, 0);
   }
 
-  public double getFrontLeftMotorVal() {
-    return frontLeft.get();
+  public double getLeftMotorVal() {
+    return (frontLeft.get() + rearLeft.get()) / 2;
   }
 
-  public double getFrontRightMotorVal() {
-    return frontRight.get();
-  }
-
-  public double getRearLeftMotorVal() {
-    return frontLeft.get();
-  }
-
-  public double getRearRightMotorVal() {
-    return frontLeft.get();
+  public double getRightMotorVal() {
+    return (frontRight.get() + rearRight.get()) / 2;
   }
 
   // ENCODER METHODS
@@ -104,8 +96,9 @@ public class DriveTrain extends Subsystem {
   }
 
   public void printEncoderOutput() {
-    System.out.println("left: " + getLeftEncoderDistance());
-    System.out.println("right: " + getRightEncoderDistance());
+    // System.out.println("left: " + getLeftEncoderDistance());
+    // System.out.println("right: " + getRightEncoderDistance());
+    System.out.println(getAvgEncoderDistance());
   }
 
   public double getAvgEncoderDistance() {