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Merge pull request #103 from NicoletFEAR/Duluth-Thursday
Duluth thursday
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52 changes: 52 additions & 0 deletions
52
Steamworks/src/org/usfirst/frc/team4786/robot/commands/DriveArc.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| package org.usfirst.frc.team4786.robot.commands; | ||
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| import org.usfirst.frc.team4786.robot.Robot; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
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| /** | ||
| * | ||
| */ | ||
| public class DriveArc extends Command { | ||
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| private double horizontalDist, theta; | ||
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| /** | ||
| * @param horizontalDist - Distance between start and end points measured along a line perpendicular to the starting orientation. Negative turns left, positive turns right. | ||
| * @param theta - Angle in degrees between start and end orientations. | ||
| */ | ||
| public DriveArc(double horizontalDist, double theta) { | ||
| // Use requires() here to declare subsystem dependencies | ||
| // eg. requires(chassis); | ||
| requires(Robot.driveTrain); | ||
| this.horizontalDist = horizontalDist; | ||
| this.theta = theta; | ||
| } | ||
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| // Called just before this Command runs the first time | ||
| protected void initialize() { | ||
| Robot.driveTrain.driveArcInit(horizontalDist, theta); | ||
| } | ||
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| // Called repeatedly when this Command is scheduled to run | ||
| protected void execute() { | ||
| } | ||
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| // Make this return true when this Command no longer needs to run execute() | ||
| protected boolean isFinished() { | ||
| //This is called instead of a special "driveArcIsFinished()" because it will do the same thing | ||
| return Robot.driveTrain.driveToPositionIsFinished(); | ||
| } | ||
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| // Called once after isFinished returns true | ||
| protected void end() { | ||
| //This is called instead of a special "driveArcEnd()" because it will do the same thing | ||
| Robot.driveTrain.driveToPositionEnd(); | ||
| } | ||
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| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| protected void interrupted() { | ||
| end(); | ||
| } | ||
| } |
47 changes: 47 additions & 0 deletions
47
Steamworks/src/org/usfirst/frc/team4786/robot/commands/DriveArcSpeed.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| package org.usfirst.frc.team4786.robot.commands; | ||
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| import org.usfirst.frc.team4786.robot.Robot; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
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| /** | ||
| * | ||
| */ | ||
| public class DriveArcSpeed extends Command { | ||
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| private double leftSpeed, rightSpeed, time; | ||
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| public DriveArcSpeed(double leftSpeed, double rightSpeed, double time) { | ||
| // Use requires() here to declare subsystem dependencies | ||
| // eg. requires(chassis); | ||
| requires(Robot.driveTrain); | ||
| this.leftSpeed = leftSpeed; | ||
| this.rightSpeed = rightSpeed; | ||
| this.time = time; | ||
| } | ||
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| // Called just before this Command runs the first time | ||
| protected void initialize() { | ||
| Robot.driveTrain.driveArcSpeedInit(leftSpeed, rightSpeed); | ||
| } | ||
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| // Called repeatedly when this Command is scheduled to run | ||
| protected void execute() { | ||
| } | ||
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| // Make this return true when this Command no longer needs to run execute() | ||
| protected boolean isFinished() { | ||
| return timeSinceInitialized() > time; | ||
| } | ||
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| // Called once after isFinished returns true | ||
| protected void end() { | ||
| Robot.driveTrain.driveArcSpeedEnd(); | ||
| } | ||
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| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| protected void interrupted() { | ||
| end(); | ||
| } | ||
| } |
30 changes: 30 additions & 0 deletions
30
Steamworks/src/org/usfirst/frc/team4786/robot/commands/DriveArcYTurns.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| package org.usfirst.frc.team4786.robot.commands; | ||
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| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
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| /** | ||
| * | ||
| */ | ||
| public class DriveArcYTurns extends CommandGroup { | ||
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| public DriveArcYTurns() { | ||
| // Add Commands here: | ||
| // e.g. addSequential(new Command1()); | ||
| // addSequential(new Command2()); | ||
| // these will run in order. | ||
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| // To run multiple commands at the same time, | ||
| // use addParallel() | ||
| // e.g. addParallel(new Command1()); | ||
| // addSequential(new Command2()); | ||
| // Command1 and Command2 will run in parallel. | ||
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| // A command group will require all of the subsystems that each member | ||
| // would require. | ||
| // e.g. if Command1 requires chassis, and Command2 requires arm, | ||
| // a CommandGroup containing them would require both the chassis and the | ||
| // arm. | ||
| addSequential(new DriveArc(2, 20)); | ||
| addSequential(new DriveArc(2, -20)); | ||
| } | ||
| } |
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