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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| package frc.team3128.commands; | ||
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| import edu.wpi.first.math.geometry.Translation2d; | ||
| import edu.wpi.first.math.util.Units; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import static frc.team3128.Constants.AutoConstants.*; | ||
| import frc.team3128.subsystems.Swerve; | ||
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| public class CmdAutoBalance extends CommandBase{ | ||
| private final Swerve swerve; | ||
| private double prevAngle; | ||
| private boolean onRamp; | ||
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| public CmdAutoBalance(boolean intialDirection) { | ||
| swerve = Swerve.getInstance(); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| prevAngle = swerve.getPitch(); | ||
| onRamp = false; | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| final double angle = swerve.getPitch(); | ||
| final double angleVelocity = (angle - prevAngle) / 0.02; | ||
| prevAngle = angle; | ||
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| if (angle > RAMP_THRESHOLD) onRamp = true; | ||
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| if (Math.abs(angle) < ANGLE_THRESHOLD && onRamp) { | ||
| swerve.xlock(); | ||
| return; | ||
| } | ||
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| if ((angle < 0.0 && angleVelocity > VELOCITY_THRESHOLD) || (angle > 0.0 && angleVelocity < VELOCITY_THRESHOLD)) { | ||
| swerve.stop(); | ||
| return; | ||
| } | ||
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| swerve.drive(new Translation2d(DRIVE_SPEED * (angle > 0.0 ? -1.0 : 1.0), 0), 0, false); | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| swerve.xlock(); | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
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| } | ||
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| } |
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