Sort Commands and Organise Imports

src/main/java/frc4388/robot/commands/drive/DriveWithJoystickUsingDeadAssistPID.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.drive;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpiutil.math.MathUtil;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Pneumatics;
+import frc4388.utility.controller.IHandController;
+
+public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
+  Drive m_drive;
+  Pneumatics m_pneumatics;
+  double m_targetGyro, m_currentGyro;
+  double m_stopPos;
+  long m_currTime, m_deltaTime;
+  long m_deadTimeSteer, m_deadTimeMove;
+  long m_deadTimeout = 100;
+  IHandController m_controller;
+  boolean m_isInterrupted;
+
+  /* Deadassist Constants */
+  final float stopPosVelCoefLow = 1;
+  final float stopPosVelCoefHigh = 3;
+  final float cosMultiplierLow = 0.55f;
+  final float cosMultiplierHigh = 0.35f;
+  final float targetAngleCoefLow = 5;
+  final float targetAngleCoefHigh = 5;
+  final float gyroVelCoefLow = 1;
+  final float gyroVelCoefHigh = 3;
+
+  /* Deadassist Coeficients */
+  final float stopPosVelCoef = 1;
+  final float cosMultiplier = 0.55f;
+  final float targetAngleCoef = 5;
+  final float gyroVelCoef = 1;
+
+  /**
+   * Creates a new DriveWithJoystickUsingDeadAssistPID to control the drivetrain with an Xbox controller.
+   * Applies a curved ramp to the input from the controllers to make the robot less "touchy".
+   * Also uses PIDs to keep the robot on course when given a "dead" or 0 input.
+   * @param subsystemDrive pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   */
+  public DriveWithJoystickUsingDeadAssistPID(Drive subsystemDrive, Pneumatics subsystemPneumatics, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystemDrive;
+    m_pneumatics = subsystemPneumatics;
+    m_controller = controller;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_currTime = System.currentTimeMillis();
+    resetGyroTarget();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    double moveInput = -m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
+    double moveOutput = 0;
+    m_deltaTime = System.currentTimeMillis() - m_currTime;
+    m_currTime = System.currentTimeMillis();
+
+    if (m_isInterrupted) {
+      resetGyroTarget();
+      m_isInterrupted = false;
+    }
+
+    /* If move stick is being used */
+    if (moveInput != 0) {
+      m_deadTimeMove = m_currTime;
+      m_stopPos = m_drive.m_rightFrontMotor.getSelectedSensorPosition()
+                  + (m_drive.m_rightFrontMotor.getSelectedSensorVelocity());
+    }
+    /* If steer stick is being used */
+    if (steerInput != 0) {
+      m_deadTimeSteer = m_currTime;
+    }
+
+    /* Curves the moveInput to be slightly more gradual at first */
+    if (moveInput >= 0) {
+      moveOutput = -Math.cos(1.571*moveInput)+1;
+    } else {
+      moveOutput = Math.cos(1.571*moveInput)-1;
+    }
+
+    if (m_pneumatics.m_isSpeedShiftHigh) {
+      runDriveWithInput(moveOutput, steerInput);
+      resetGyroTarget();
+    }
+    /* If move stick has been pressed within 1 sec */
+    else if (m_currTime - m_deadTimeMove < m_deadTimeout) {
+      /* If steer stick has not been used for less than 1 sec */
+      if (m_currTime - m_deadTimeSteer < m_deadTimeout) {
+        runDriveWithInput(moveOutput, steerInput);
+        resetGyroTarget();
+      }
+      /* If steer stick has not been used for 1 sec */
+      else {
+        runDriveStraight(moveOutput);
+      }
+    }
+    /* If the move stick has not been used for 1 sec */
+    else {
+      runStoppedTurn(steerInput);
+    }
+  }
+
+  private void runDriveWithInput(double move, double steerInput) {
+    double cosMultiplier = .70;
+    double steerOutput = 0;
+    double deadzone = .1;
+    /* Curves the steer output to be similarily gradual */
+    if (steerInput > 0){
+      steerOutput = -(cosMultiplier - deadzone)*Math.cos(1.571*steerInput)+(cosMultiplier);
+    } else if (steerInput < 0) {
+      steerOutput = (cosMultiplier - deadzone)*Math.cos(1.571*steerInput)-(cosMultiplier);
+    }
+
+    m_drive.driveWithInput(move, steerOutput);
+    System.out.println("Driving With Input");
+  }
+
+  private void runDriveStraight(double move) {
+    m_drive.driveWithInputAux(move * 3/4, m_targetGyro);
+    System.out.println("Driving Straight with Target: " + m_targetGyro);
+  }
+
+  private void runStoppedTurn(double steer) {
+    double cosMultiplier = 0.55;
+    double steerOutput = 0;
+    double deadzone = .2;
+    /* Curves the steer output to be similarily gradual */
+    if (steer > 0) {
+      steerOutput = -cosMultiplier*Math.cos(1.571*steer)+(cosMultiplier+deadzone);
+    } else if (steer < 0) {
+      steerOutput = cosMultiplier*Math.cos(1.571*steer)-(cosMultiplier+deadzone);
+    }
+
+    updateGyroTarget(steerOutput);
+    double currentPos = m_drive.m_rightFrontMotorPos;
+    if (Math.abs(currentPos - m_stopPos) > 200) {
+      m_drive.runDrivePositionPID(m_stopPos, m_targetGyro);
+    } else {
+      m_drive.driveWithInputAux(0, m_targetGyro);
+    }
+    System.out.println("Turning with Target: " + m_targetGyro);
+  }
+
+  /**
+   * If AuxPID is enabled, then update using the steer input
+   */
+  private void updateGyroTarget(double steerInput) {
+    m_targetGyro -= 5 * steerInput * m_deltaTime;
+    m_targetGyro = MathUtil.clamp(  m_targetGyro,
+                                    m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/3),
+                                    m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/3));
+  }
+
+  /**
+   * set target angle to current angle (prevents buildup of gyro error).
+   */
+  private void resetGyroTarget() {
+    //m_targetGyro = m_currentGyro;
+    m_targetGyro =  m_currentGyro
+                    + m_drive.getTurnRate();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_isInterrupted = interrupted;
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}