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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.Constants;
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import org.usfirst.frc.team3695.robot.Robot;
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import org.usfirst.frc.team3695.robot.util.Util;
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public class CyborgCommandRotateDegrees extends Command {
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public static final double SCALAR = (Constants.DISTANCE_BETWEEN_WHEELS * Math.PI) / 360;
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public static final long TIME_WAIT = 500;
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private boolean inRange;
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private long time;
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public double inches;
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public CyborgCommandRotateDegrees(double degrees) {
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inches = degrees * SCALAR;
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requires(Robot.SUB_DRIVE);
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}
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protected void initialize() {
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DriverStation.reportWarning("ROTATING " + (inches / SCALAR) + " DEGREES" + ((inches > 0) ? "CW" : "CCW"), false);
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time = System.currentTimeMillis() + TIME_WAIT;
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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("Rotate Degrees", 0) * SCALAR;
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Robot.SUB_DRIVE.pid.setPIDF(Util.getAndSetDouble("P", .11),
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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, -1* inches);
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}
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protected void execute() {
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DriverStation.reportWarning("ROTATING " + (inches / SCALAR) + " DEGREES" + ((inches > 0) ? "CW" : "CCW"), 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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DriverStation.reportWarning("DONE ROTATING", false);
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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("CyborgCommandRotateDegrees 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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end();
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}
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} |
wh1ter0se /
PowerUp-2018
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.