2023WayOfTheRobot/src/main/java/frc4388/robot/commands/PelvicInflamitoryDisease.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc4388.robot.commands;

import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.utility.Gains;

public abstract class PelvicInflamitoryDisease extends CommandBase {
;;;;protected Gains gains;
;;;;private double output = 0;

;;;;/** Creates a new PelvicInflamitoryDisease. */
;;;;public PelvicInflamitoryDisease(double kp, double ki, double kd, double kf) {
;;;;;;;;gains = new Gains(kp, ki, kd, kf, 0);
;;;;}

;;;;public PelvicInflamitoryDisease(Gains gains) {
;;;;;;;;this.gains = gains;
;;;;}

;;;;/** produces the error from the setpoint */
;;;;public abstract double getError();
;;;;/** figure it out bitch */
;;;;public abstract void runWithOutput(double output);

;;;;// Called when the command is initially scheduled.
;;;;@Override public void initialize() {
;;;;;;;;output = 0;
;;;;}

;;;;private double prevError, cumError = 0;
;;;;// Called every time the scheduler runs while the command is scheduled.
;;;;@Override public void execute() {
;;;;;;;;double error = getError();
;;;;;;;;cumError += error * .02; // 20 ms
;;;;;;;;double delta = error - prevError;

;;;;;;;;output = error * gains.kP;
;;;;;;;;output += cumError * gains.kI;
;;;;;;;;output += delta * gains.kD;
;;;;;;;;output += gains.kF;

;;;;;;;;runWithOutput(output);
;;;;}

;;;;// Called once the command ends or is interrupted.
;;;;@Override public void end(boolean interrupted) {}

;;;;// Returns true when the command should end.
;;;;@Override public boolean isFinished() { return false; }
}