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Revert "Reverted Drive code to master"

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This reverts commit 4dd70bf1fe.
This commit is contained in:
ryan123rudder
2020-02-03 16:40:39 -07:00
parent 0f5a6ef09f
commit cfee098d05
6 changed files with 294 additions and 6 deletions
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src/main/java/frc4388/robot/commands/DriveAtVelocityPID.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;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Drive;
public class DriveAtVelocityPID extends CommandBase {
Drive m_drive;
double m_targetVel;
double m_leftTarget;
double m_rightTarget;
/**
* Creates a new DriveAtVelocityPID.
*/
public DriveAtVelocityPID(Drive subsystem, double targetVel) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetVel = targetVel;
addRequirements(m_drive);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_leftTarget = m_targetVel;
m_rightTarget = -m_targetVel;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.runDriveVelocityPID(m_drive.m_leftFrontMotor, m_leftTarget);
m_drive.runDriveVelocityPID(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() {
return false;
}
}
src/main/java/frc4388/robot/commands/DriveToDistanceMM.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;
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.runDriveMotionMagicPID(m_drive.m_leftFrontMotor, m_leftTarget);
m_drive.runDriveMotionMagicPID(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;
}
}
}
src/main/java/frc4388/robot/commands/DriveToDistancePID.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;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Drive;
public class DriveToDistancePID extends CommandBase {
Drive m_drive;
double m_distance;
double m_leftTarget;
double m_rightTarget;
/**
* Creates a new DriveToDistancePID.
*/
public DriveToDistancePID(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);
SmartDashboard.putNumber("Left Target", m_leftTarget);
SmartDashboard.putNumber("Right Target", m_rightTarget);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.runDrivePositionPID(m_drive.m_leftFrontMotor, m_leftTarget);
m_drive.runDrivePositionPID(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;
}
}
}