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package org.usfirst.frc.team3695.robot.commands;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.command.Command;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import org.usfirst.frc.team3695.robot.Robot;
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import org.usfirst.frc.team3695.robot.subsystems.SubsystemDrive.PID;
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import org.usfirst.frc.team3695.robot.util.Util;
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public class CyborgCommandDriveDistance extends Command {
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public static final long TIME_WAIT = 1000;
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public double inches;
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private long time;
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private boolean inRange;
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public CyborgCommandDriveDistance(double inches) {
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this.inches = inches;
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requires(Robot.SUB_DRIVE);
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}
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protected void initialize() {
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// Robot.SUB_DRIVE.pid.zeroEncoders(); Reset does this
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inRange = false;
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Robot.SUB_DRIVE.pid.reset();
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time = System.currentTimeMillis() + TIME_WAIT;
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inches = Util.getAndSetDouble("Drive Distance Inches", 10); // take out in final version
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PID.setPIDF(Util.getAndSetDouble("P", .5),
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Util.getAndSetDouble("I", 0),
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Util.getAndSetDouble("D", 0),
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Util.getAndSetDouble("F", 0));
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inRange = Robot.SUB_DRIVE.driveDistance(inches, inches);
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}
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protected void execute() {
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DriverStation.reportWarning("DRIVING " + inches + " INCHES", false);
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SmartDashboard.putNumber("Left Encoder Inches", Robot.SUB_DRIVE.pid.getLeftInches());
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SmartDashboard.putNumber("Right Encoder Inches", Robot.SUB_DRIVE.pid.getRightInches());
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SmartDashboard.putNumber("Error", Robot.SUB_DRIVE.pid.getError());
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}
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protected boolean isFinished() {
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if(!inRange) {
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time = System.currentTimeMillis() + TIME_WAIT;
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}
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return time < System.currentTimeMillis();
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}
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protected void end() {
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DriverStation.reportWarning("CyborgCommandDriveDistance finished", false);
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Robot.SUB_DRIVE.driveDirect(0, 0);
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}
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protected void interrupted() {}
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} |
wh1ter0se /
PowerUp-2018
Loading history...
Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it.