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89
src/main/java/frc/robot/commands/Zeroing/ManualZeroElevator.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 frc.robot.commands.Zeroing; | ||
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| import edu.wpi.first.units.Angle; | ||
| import edu.wpi.first.units.Measure; | ||
| import edu.wpi.first.units.Time; | ||
| import edu.wpi.first.units.Units; | ||
| import edu.wpi.first.units.Velocity; | ||
| import edu.wpi.first.units.Voltage; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.Constants.constElevator; | ||
| import frc.robot.subsystems.Elevator; | ||
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| public class ManualZeroElevator extends Command { | ||
| Elevator subElevator; | ||
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| boolean zeroingSuccess = false; | ||
| Measure<Time> zeroingTimestamp = Units.Seconds.zero(); | ||
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| Measure<Velocity<Angle>> lastRotorVelocity = Units.RotationsPerSecond.of(0); | ||
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| public ManualZeroElevator(Elevator subElevator) { | ||
| this.subElevator = subElevator; | ||
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| addRequirements(subElevator); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| // Check if we have raised the shooter above a certain speed | ||
| if (subElevator.getRotorVelocity().gte(constElevator.MANUAL_ZEROING_START_VELOCITY) | ||
| || Elevator.attemptingZeroing) { | ||
| // Enter zeroing mode! | ||
| if (!Elevator.attemptingZeroing) { | ||
| Elevator.attemptingZeroing = true; | ||
| zeroingTimestamp = Units.Seconds.of(Timer.getFPGATimestamp()); | ||
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| System.out.println("Elevator Zeroing Started!"); | ||
| } | ||
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| // Check if time elapsed since previous zeroing is too high - if true, then exit | ||
| // zeroing mode :( | ||
| if (Units.Seconds.of(Timer.getFPGATimestamp()).minus(zeroingTimestamp).gte(constElevator.ZEROING_TIMEOUT)) { | ||
| Elevator.attemptingZeroing = false; | ||
| System.out.println("Elevator Zeroing Failed :("); | ||
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| } else { | ||
| boolean rotorVelocity = subElevator.getRotorVelocity().minus(lastRotorVelocity) | ||
| .lte(constElevator.MANUAL_ZEROING_DELTA_VELOCITY); | ||
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| if (rotorVelocity && lastRotorVelocity.lte(Units.RotationsPerSecond.of(0))) { | ||
| zeroingSuccess = true; | ||
| } else { | ||
| lastRotorVelocity = subElevator.getRotorVelocity(); | ||
| } | ||
| } | ||
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| } | ||
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| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| if (!interrupted) { | ||
| Elevator.hasZeroed = true; | ||
| subElevator.setElevatorSensorPosition(constElevator.ZEROED_POS); | ||
| System.out.println("Elevator Zeroing Successful!!!! Yippee and hooray!!! :3"); | ||
| } else { | ||
| System.out.println("Elevator was never zeroed :((( blame eli"); | ||
| } | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| boolean rotorVelocityIsZero = subElevator.getRotorVelocity().isNear(Units.RotationsPerSecond.zero(), 0.01); | ||
| SmartDashboard.putBoolean("Zeroing/Pivot/Is Rotor Velocity Zero", rotorVelocityIsZero); | ||
| return zeroingSuccess && rotorVelocityIsZero; | ||
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| } | ||
| } |
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