Interuptability Handling

src/main/java/frc4388/robot/commands/HoldTarget.java

@@ -0,0 +1,101 @@
+/*----------------------------------------------------------------------------*/
+/* 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;
+
+import frc4388.robot.Constants.ShooterConstants;
+import frc4388.robot.Constants.VisionConstants;
+import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+import frc4388.utility.controller.IHandController;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class HoldTarget extends CommandBase {
+    //Setup
+  NetworkTableEntry xEntry;
+  ShooterAim m_shooterAim;
+  Shooter m_shooter;
+  IHandController m_driverController;
+    //Aiming
+  double turnAmount = 0;
+  double xAngle = 0;
+  double yAngle = 0;
+  double target = 0;
+  public double distance;
+  public static double fireVel;
+  public static double fireAngle;
+
+  /**
+   * Uses the Limelight to track the target
+   */
+  public HoldTarget(Shooter shooterSubsystem, ShooterAim aimSubsystem) {
+    m_shooterAim = aimSubsystem;
+    m_shooter = shooterSubsystem;
+    addRequirements(m_shooter);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+      //Vision Processing Mode
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
+  }
+
+
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    target = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
+    xAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
+    yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
+    
+    if (target == 1.0){ //If target in view
+        //Aiming Left/Right
+      turnAmount = (xAngle/VisionConstants.FOV)*VisionConstants.TURN_P_VALUE;
+      if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR){turnAmount = 0;} //Angle Error Zone 
+        //Deadzones
+      else if(turnAmount > 0 && turnAmount < VisionConstants.MOTOR_DEAD_ZONE){turnAmount = VisionConstants.MOTOR_DEAD_ZONE;} 
+      else if(turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE){turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;}
+      m_shooterAim.runShooterWithInput(turnAmount/3);
+
+        //Finding Distance
+      distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));
+      SmartDashboard.putNumber("Distance to Target", distance);
+
+      double yVel = Math.sqrt(2*VisionConstants.GRAV*VisionConstants.TARGET_HEIGHT);
+      double xVel = (distance*VisionConstants.GRAV)/(yVel);
+
+      fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
+      fireAngle = Math.atan(yVel/xVel);
+      m_shooter.m_fireVel = fireVel;
+      m_shooter.m_fireAngle = fireAngle;
+
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+      //Drive Camera Mode
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc4388/robot/commands/ShootFireGroup.java

@@ -25,9 +25,9 @@ public class ShootFireGroup extends ParallelRaceGroup {
    */
   public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
     super(
-      new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel()),
-      new HoodAdjustPID(m_shooter),
-      new TrackTarget(m_shooter, m_shooterAim),
+      new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel(), m_shooter.m_shooterFalcon.getSelectedSensorVelocity())),
+      new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
+      new HoldTarget(m_shooter, m_shooterAim),
       new StorageRun(m_storage)
       );
   }