Add comments to all of the driveTrain PID commands and methods to explain what is...

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / driving / DriveDistance.java

package org.usfirst.frc.team3501.robot.commands.driving;

import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Robot;

import edu.wpi.first.wpilibj.command.Command;

/***
 * This command will drive the drivetrain a certain distance in inches
 *
 * @param distance
 *          is the distance we want to drive
 *          maxTimeOut is a catch just in case the robot malfunctions and never
 *          gets to the setpoint
 *
 * @code
 *       Repeatedly updates the driveTrain setpoint
 *       Finishes when the time goes over maxTimeOut or the driveTrain hits the
 *       setpoint
 *       end() disables the PID driveTrain
 */
public class DriveDistance extends Command {
  private double maxTimeOut;
  double distance;
  int count = 0;

  public DriveDistance(double distance, double maxTimeOut) {
    requires(Robot.driveTrain);
    this.maxTimeOut = maxTimeOut;
    this.distance = distance;
  }

  @Override
  protected void initialize() {
    Robot.driveTrain.resetEncoders();
  }

  @Override
  protected void execute() {
    Robot.driveTrain.driveDistance(distance, maxTimeOut);

  }

  @Override
  protected boolean isFinished() {
    if (timeSinceInitialized() >= maxTimeOut
        || Robot.driveTrain
            .reachedTarget() || Robot.driveTrain.getError() < 1) {
      System.out.println("time: " + timeSinceInitialized());
      Constants.DriveTrain.time = timeSinceInitialized();
      return true;
    }
    return false;
  }

  @Override
  protected void end() {
    Robot.driveTrain.disable();
  }

  @Override
  protected void interrupted() {
  }
}