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70 changes: 70 additions & 0 deletions
70
src/main/java/org/carlmontrobotics/robotcode2023/commands/DriveOverChargeStation.java
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package org.carlmontrobotics.robotcode2023.commands; | ||
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| import org.carlmontrobotics.robotcode2023.subsystems.Drivetrain; | ||
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| import static org.carlmontrobotics.robotcode2023.Constants.Drivetrain.*; | ||
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| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
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| public class DriveOverChargeStation extends CommandBase { | ||
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| private final Drivetrain drivetrain; | ||
| private boolean fwd, fieldOriented; | ||
| private boolean goingUp, goingDown, overChargeStation; | ||
| private int upSign; | ||
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| public DriveOverChargeStation(Drivetrain drivetrain) { | ||
| addRequirements(this.drivetrain = drivetrain); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| fwd = Math.abs(getRoll()) > Math.abs(getPitch()); | ||
| fieldOriented = drivetrain.getFieldOriented(); | ||
| drivetrain.setFieldOriented(false); | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| double roll = getRoll(); | ||
| double pitch = getPitch(); | ||
| double angle = fwd ? roll : pitch; | ||
| if (!goingUp) { | ||
| goingUp = Math.abs(angle) > 8; | ||
| upSign = angle >= 0 ? 1 : -1; | ||
| } | ||
| if (goingUp && !goingDown && upSign != 0) { | ||
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| goingDown = (upSign > 0 ? angle < 0 : angle > 0) && Math.abs(angle) > 8; | ||
| } | ||
| double forward = fwd ? drivetrain.getMaxSpeedMps() : 0; | ||
| double strafe = fwd ? 0 : drivetrain.getMaxSpeedMps(); | ||
| drivetrain.drive(forward, strafe, 0); | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| drivetrain.stop(); | ||
| drivetrain.setFieldOriented(fieldOriented); | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| double roll = -getRoll(); | ||
| double pitch = getPitch(); | ||
| double angle = fwd ? roll : pitch; | ||
| return goingDown && Math.abs(angle) > 8; | ||
| } | ||
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| private double getPitch() { | ||
| return drivetrain.getPitch() - drivetrain.initPitch; | ||
| } | ||
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| private double getRoll() { | ||
| return drivetrain.getRoll() - drivetrain.initRoll; | ||
| } | ||
| } |