From 381dad77be9ae65d463812e2c2ad852363084219 Mon Sep 17 00:00:00 2001
From: Christopher Zhu <christopherzhu@Christophers-MacBook-Pro.local>
Date: Sat, 4 Feb 2017 13:23:08 -0800
Subject: [PATCH] make code for pid fly wheel control

---
 .../commands/shooter/StartUpFlyWheel.java     | 29 +++++++++++++++++--
 .../team3501/robot/subsystems/Shooter.java    |  5 ++++
 2 files changed, 31 insertions(+), 3 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/StartUpFlyWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/StartUpFlyWheel.java
index d0e07db..414641b 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/StartUpFlyWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/StartUpFlyWheel.java
@@ -11,39 +11,62 @@ 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() {
+
+  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 ba0f51c..f39f1ff 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -7,6 +7,7 @@ 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;
   private static Shooter shooter;
   private final CANTalon flyWheel, indexWheel;
 
@@ -72,4 +73,8 @@ public class Shooter extends Subsystem {
   protected void initDefaultCommand() {
 
   }
+
+  public double getShooterSpeed() {
+    return 1.0;
+  }
 }
-- 
2.30.2