From 9be99be0c303a376eb7917da3d1f182e4987c7b0 Mon Sep 17 00:00:00 2001
From: Aarav <91212@psdschools.org>
Date: Thu, 16 Jan 2020 20:22:50 -0700
Subject: [PATCH] Add PID and Motion Magic Commands

---
 .../java/frc4388/robot/RobotContainer.java    |  4 ++
 .../robot/commands/DriveToDistanceMM.java     | 57 +++++++++++++++++++
 .../robot/commands/DriveToDistancePID.java    |  4 +-
 .../java/frc4388/robot/subsystems/Drive.java  | 12 ++--
 4 files changed, 71 insertions(+), 6 deletions(-)
 create mode 100644 src/main/java/frc4388/robot/commands/DriveToDistanceMM.java

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index a06bda1..6469cc8 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
+import frc4388.robot.commands.DriveToDistanceMM;
 import frc4388.robot.commands.DriveToDistancePID;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.LED;
@@ -74,6 +75,9 @@ public class RobotContainer {
         /* PID Test Command */
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
             .whenPressed(new DriveToDistancePID(m_robotDrive, 5000));
+
+        new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
+            .whenPressed(new DriveToDistanceMM(m_robotDrive, 5000));
     }
     
     /**
diff --git a/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java b/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
new file mode 100644
index 0000000..c259e54
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Drive;
+
+public class DriveToDistanceMM extends CommandBase {
+  Drive m_drive;
+  double m_distance;
+  double m_leftTarget;
+  double m_rightTarget;
+  
+  /**
+   * Creates a new DriveToDistancePID.
+   */
+  public DriveToDistanceMM(Drive subsystem, double distance) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_distance = distance;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
+    m_rightTarget = m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_drive.runMotionMagicPID(m_drive.m_leftFrontMotor, m_leftTarget);
+    m_drive.runMotionMagicPID(m_drive.m_rightFrontMotor, m_rightTarget);
+  }
+
+  // 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() {
+    if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_leftTarget) < 100){
+      return true;
+    } else {
+      return false;
+    }
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/DriveToDistancePID.java b/src/main/java/frc4388/robot/commands/DriveToDistancePID.java
index 6512150..e0bbbe8 100644
--- a/src/main/java/frc4388/robot/commands/DriveToDistancePID.java
+++ b/src/main/java/frc4388/robot/commands/DriveToDistancePID.java
@@ -36,8 +36,8 @@ public class DriveToDistancePID extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    m_drive.gotoPositionPID(m_drive.m_leftFrontMotor, m_leftTarget);
-    m_drive.gotoPositionPID(m_drive.m_rightFrontMotor, m_rightTarget);
+    m_drive.runPositionPID(m_drive.m_leftFrontMotor, m_leftTarget);
+    m_drive.runPositionPID(m_drive.m_rightFrontMotor, m_rightTarget);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index d411fa1..3b81cfc 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -74,7 +74,7 @@ public class Drive extends SubsystemBase {
     //m_leftFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
     //m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
   
-    m_leftFrontMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10, DriveConstants.DRIVE_TIMEOUT_MS);
+    /*m_leftFrontMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10, DriveConstants.DRIVE_TIMEOUT_MS);
 
     m_leftFrontMotor.configNominalOutputForward(0, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -84,7 +84,7 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.configNominalOutputForward(0, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.configNominalOutputReverse(0, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.configPeakOutputForward(1, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);*/
 
     setDriveTrainGains();
 
@@ -179,14 +179,18 @@ public class Drive extends SubsystemBase {
     m_driveTrain.arcadeDrive(move, steer);
   }
 
-  public void gotoPositionPID(WPI_TalonFX talon, double targetPos) {
+  public void runPositionPID(WPI_TalonFX talon, double targetPos) {
     talon.set(TalonFXControlMode.Position, targetPos);
   }
 
-  public void gotoVelocityPID(WPI_TalonFX talon, double targetVel) {
+  public void runVelocityPID(WPI_TalonFX talon, double targetVel) {
     talon.set(TalonFXControlMode.Velocity, targetVel);
   }
 
+  public void runMotionMagicPID(WPI_TalonFX talon, double targetPos){
+    talon.set(TalonFXControlMode.MotionMagic, targetPos);
+  }
+
   public double getGyroYaw() {
     double[] ypr = new double[3];
     m_pigeon.getYawPitchRoll(ypr);