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Kharn #11

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3e3afad
Merge remote-tracking branch 'refs/remotes/origin/master' into Kharn
Kharnn Feb 4, 2017
8d89d35
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Kharnn Mar 14, 2017
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Binary file modified Uberbots2017/build/org/usfirst/frc/team1124/robot/Robot.class
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25 changes: 16 additions & 9 deletions Uberbots2017/src/org/usfirst/frc/team1124/robot/commands/DriveForward.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,8 @@

public class DriveForward extends Command {

Drive drive = Robot.drive;

private double distanceInTicks;

private boolean done = false;
Expand All @@ -19,8 +21,18 @@ public class DriveForward extends Command {
private static final int TICKS_TIL_FULL = 16000;

private static final double QUIT_SPEED = 0.1;


public static final int DRIVE_MODE_NONE = 0;

public static final int DRIVE_MODE_ARCADE = 1;

public static final int DRIVE_MODE_MECANUM = 2;
private int sign;

int totalEncPosition = -drive.frontLeft.getEncPosition() + drive.frontRight.getEncPosition()
- drive.rearLeft.getEncPosition() + drive.rearRight.getEncPosition();


public DriveForward(double distance) {
sign = (int) (distance / Math.abs(distance));
Expand All @@ -36,14 +48,13 @@ protected void initialize() {
done = false;
}

protected void execute() {
Drive drive = Robot.drive;
int average = sign * (-drive.frontLeft.getEncPosition() + drive.frontRight.getEncPosition() - drive.rearLeft.getEncPosition() + drive.rearRight.getEncPosition()) / 4;
protected void execute() {
int average = sign * (totalEncPosition) / 4;
double speed = sign * getSpeed(average);
if (Math.abs(speed) <= QUIT_SPEED)
quit();
else {
Robot.drive.mode = 2;
Robot.drive.mode = DRIVE_MODE_MECANUM;
Robot.drive.run(0, speed);
}

Expand Down Expand Up @@ -81,7 +92,6 @@ private double getSpeed(int ticksSoFar) {
}
}

// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
return done;
}
Expand All @@ -90,10 +100,7 @@ public boolean done() {
return done;
}

// Called once after isFinished returns true
protected void end() {}

// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {}
protected void interrupted() { this.cancel(); }
}