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| // RobotBuilder Version: 1.5 | |
| // | |
| // This file was generated by RobotBuilder. It contains sections of | |
| // code that are automatically generated and assigned by robotbuilder. | |
| // These sections will be updated in the future when you export to | |
| // Java from RobotBuilder. Do not put any code or make any change in | |
| // the blocks indicating autogenerated code or it will be lost on an | |
| // update. Deleting the comments indicating the section will prevent | |
| // it from being updated in the future. | |
| package org.usfirst.frc319.RecyleRush.commands; | |
| import edu.wpi.first.wpilibj.command.PIDCommand; | |
| import org.usfirst.frc319.RecyleRush.Robot; | |
| import org.usfirst.frc319.RecyleRush.RobotMap; | |
| /** | |
| * | |
| */ | |
| public class AutoDriveStraightStage1 extends PIDCommand { | |
| public AutoDriveStraightStage1() { | |
| // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID | |
| super("AutoDriveStraight", 1.0, 0.0, 0.0, 0.02); | |
| getPIDController().setContinuous(false); | |
| getPIDController().setAbsoluteTolerance(1.0); | |
| // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PID | |
| // Use requires() here to declare subsystem dependencies | |
| // eg. requires(chassis); | |
| requires(Robot.driveTrain); | |
| // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES | |
| // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES | |
| } | |
| protected double returnPIDInput() { | |
| // Return your input value for the PID loop | |
| // e.g. a sensor, like a potentiometer: | |
| // yourPot.getAverageVoltage() / kYourMaxVoltage; | |
| return Robot.driveTrain.getDegreesFromEncoderValues(); | |
| } | |
| protected void usePIDOutput(double output) { | |
| // Use output to drive your system, like a motor | |
| // e.g. yourMotor.set(output); | |
| Robot.driveTrain.manualArcadeDrive(-0.57, output); //was originally -.9 | |
| } | |
| // Called just before this Command runs the first time | |
| protected void initialize() { | |
| this.setSetpoint(0); | |
| this.getPIDController().enable(); | |
| } | |
| // Called repeatedly when this Command is scheduled to run | |
| protected void execute() { | |
| } | |
| // Make this return true when this Command no longer needs to run execute() | |
| protected boolean isFinished() { | |
| return Robot.elevator.isToteWithinRange(12.5); | |
| /*double error = setpoint - returnPIDInput(); | |
| System.out.println("Error is "+ error); | |
| if(error < 5 && error > -5){ | |
| //System.out.println("isFinished"); | |
| return true; | |
| } | |
| else{ | |
| //System.out.println("notFinished"); | |
| return false; | |
| }*/ | |
| } | |
| // Called once after isFinished returns true | |
| protected void end() { | |
| //possibly add | |
| //Robot.driveTrain.arcadeDrive(0,0); | |
| } | |
| // Called when another command which requires one or more of the same | |
| // subsystems is scheduled to run | |
| protected void interrupted() { | |
| } | |
| } |