From a96cd7a3e2189695446895be06591a63b9097ffb Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Mon, 20 Jan 2020 08:59:20 -0800
Subject: [PATCH] Finished up Velocity Control PID

Shooter PID
---
 .../java/frc4388/robot/RobotContainer.java    |  6 ++-
 .../commands/ShooterVelocityControlPID.java   | 47 +++++++++++++++++++
 .../frc4388/robot/subsystems/Shooter.java     |  3 +-
 3 files changed, 54 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index abdfb35..d4902b2 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -20,6 +20,7 @@ import frc4388.robot.commands.DriveAtVelocityPID;
 import frc4388.robot.commands.DriveToDistanceMM;
 import frc4388.robot.commands.DriveToDistancePID;
 import frc4388.robot.commands.RunIntakeWithTriggers;
+import frc4388.robot.commands.ShooterVelocityControlPID;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Elevator;
 import frc4388.robot.subsystems.Intake;
@@ -99,13 +100,16 @@ public class RobotContainer {
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
             .whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
 
+        new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
+            .whileHeld(new ShooterVelocityControlPID(m_robotShooter, 2000));
+
         new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
             .whenPressed(new DistanceElevatorPID(m_robotElevator, 20000));
 
         new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
             .whenPressed(new InstantCommand(null, m_robotDrive));
 
-        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+        new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
             .whileHeld(() -> m_robotShooter.runDrumShooter(1), m_robotShooter);
     }
     
diff --git a/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java b/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
new file mode 100644
index 0000000..dcc0fb3
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* 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.Shooter;
+
+public class ShooterVelocityControlPID extends CommandBase {
+  Shooter m_shooter;
+  double m_targetVel;
+  /**
+   * Creates a new ShooterVelocityControlPID.
+   */
+  public ShooterVelocityControlPID(Shooter subsystem, double targetVel) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_shooter = subsystem;
+    m_targetVel = targetVel;
+    addRequirements(m_shooter);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_shooter.runDrumShooterVelocityPID(m_shooter.m_shooterFalcon, m_targetVel);
+  }
+
+  // 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;
+  }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index 934cbae..8e7cd9c 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -8,6 +8,7 @@
 package frc4388.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -16,7 +17,7 @@ import frc4388.robot.Constants.ShooterConstants;
 
 public class Shooter extends SubsystemBase {
 
-  WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
+  public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
 
   public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;