Commit | Line | Data |
---|---|---|
38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
111dc444 | 4 | |
38a404b3 | 5 | import edu.wpi.first.wpilibj.CANTalon; |
111dc444 YN |
6 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; |
7 | import edu.wpi.first.wpilibj.Encoder; | |
38a404b3 KZ |
8 | import edu.wpi.first.wpilibj.command.Subsystem; |
9 | ||
10 | public class DriveTrain extends Subsystem { | |
1884c3cf KZ |
11 | // Drivetrain related objects |
12 | private Encoder leftEncoder, rightEncoder; | |
d7bf2340 | 13 | private CANTalon frontLeft, frontRight, rearLeft, rearRight; |
1884c3cf KZ |
14 | |
15 | // Drivetrain specific constants that relate to the inches per pulse value for | |
16 | // the encoders | |
d7bf2340 | 17 | private final static double WHEEL_DIAMETER = 6.0; // in inches |
6833a887 YN |
18 | private final static double PULSES_PER_ROTATION = 256; // in pulses |
19 | private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches | |
20 | private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches | |
d7bf2340 KZ |
21 | |
22 | public final static double INCHES_PER_PULSE = (((Math.PI) | |
23 | * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER) | |
24 | * WHEEL_DIAMETER; | |
d7bf2340 KZ |
25 | |
26 | public DriveTrain() { | |
27 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); | |
28 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
29 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
30 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
1884c3cf | 31 | |
d7bf2340 KZ |
32 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, |
33 | Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X); | |
34 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, | |
35 | Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X); | |
36 | leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); | |
37 | rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); | |
38 | } | |
39 | ||
40 | @Override | |
41 | protected void initDefaultCommand() { | |
42 | } | |
43 | ||
44 | public void resetEncoders() { | |
45 | leftEncoder.reset(); | |
46 | rightEncoder.reset(); | |
47 | } | |
48 | ||
d7bf2340 | 49 | public double getRightSpeed() { |
6833a887 | 50 | return rightEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
51 | } |
52 | ||
53 | public double getLeftSpeed() { | |
6833a887 | 54 | return leftEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
55 | } |
56 | ||
57 | public double getSpeed() { | |
6833a887 | 58 | return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second |
d7bf2340 KZ |
59 | } |
60 | ||
d7bf2340 | 61 | public double getRightDistance() { |
6833a887 | 62 | return rightEncoder.getDistance(); // in inches |
d7bf2340 KZ |
63 | } |
64 | ||
d7bf2340 | 65 | public double getLeftDistance() { |
6833a887 | 66 | return leftEncoder.getDistance(); // in inches |
d7bf2340 KZ |
67 | } |
68 | ||
69 | public double getDistance() { | |
6833a887 | 70 | return (getRightDistance() + getLeftDistance()) / 2.0; // in inches |
d7bf2340 KZ |
71 | } |
72 | ||
73 | public void stop() { | |
74 | setMotorSpeeds(0, 0); | |
75 | } | |
76 | ||
77 | public void setMotorSpeeds(double leftSpeed, double rightSpeed) { | |
1884c3cf KZ |
78 | // speed passed to right motor is negative because right motor rotates in |
79 | // opposite direction | |
d7bf2340 KZ |
80 | this.frontLeft.set(leftSpeed); |
81 | this.frontRight.set(-rightSpeed); | |
82 | this.rearLeft.set(leftSpeed); | |
83 | this.rearRight.set(-rightSpeed); | |
d7bf2340 | 84 | } |
38a404b3 KZ |
85 | |
86 | } |