| 1 | package org.usfirst.frc.team3501.robot.commands.intakearm; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Robot; |
| 4 | |
| 5 | import edu.wpi.first.wpilibj.command.Command; |
| 6 | |
| 7 | public class MoveIntakeArmToAngle extends Command { |
| 8 | private double currentAngle; |
| 9 | private double targetAngle; |
| 10 | private double targetSpeed; |
| 11 | private double calculatedSpeed; |
| 12 | private double SENSITIVITY_THRESHOLD = 0.1; |
| 13 | private double MIN_SPEED = .3; |
| 14 | |
| 15 | public MoveIntakeArmToAngle(double angle, double speed) { |
| 16 | requires(Robot.intakeArm); |
| 17 | targetAngle = angle; |
| 18 | targetSpeed = speed; |
| 19 | |
| 20 | } |
| 21 | |
| 22 | @Override |
| 23 | protected void initialize() { |
| 24 | |
| 25 | // set the arm speed to the calculated angle |
| 26 | double speed = getCalculatedSpeed(); |
| 27 | |
| 28 | if (speed < MIN_SPEED && speed > 0) |
| 29 | speed = Math.signum(getCalculatedSpeed()) * MIN_SPEED; |
| 30 | Robot.intakeArm.setArmSpeed(speed); |
| 31 | } |
| 32 | |
| 33 | @Override |
| 34 | protected void execute() { |
| 35 | // set the arm speed to the calculated angle |
| 36 | Robot.intakeArm.setArmSpeed(calculatedSpeed); |
| 37 | } |
| 38 | |
| 39 | private double getError() { |
| 40 | // targetAngle - currentAngle = error |
| 41 | return Robot.intakeArm.getArmAngle() - targetAngle; |
| 42 | } |
| 43 | |
| 44 | private double getCalculatedSpeed() { |
| 45 | // if the arm has to move up -- the speed will be + |
| 46 | // if the arm has to move down -- the speed will be - |
| 47 | |
| 48 | return (getError() / targetAngle) * targetSpeed; |
| 49 | } |
| 50 | |
| 51 | @Override |
| 52 | protected boolean isFinished() { |
| 53 | // if the arm's angle is close enough to the target value return true |
| 54 | // else return false |
| 55 | return (Math.abs(getError()) <= SENSITIVITY_THRESHOLD); |
| 56 | } |
| 57 | |
| 58 | @Override |
| 59 | protected void end() { |
| 60 | Robot.intakeArm.stop(); |
| 61 | } |
| 62 | |
| 63 | @Override |
| 64 | protected void interrupted() { |
| 65 | end(); |
| 66 | } |
| 67 | |
| 68 | } |