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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
5483fde9 | 4 | import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive; |
04f2cb52 | 5 | |
a1c76caf CZ |
6 | import com.ctre.CANTalon; |
7 | ||
fa4e4a97 | 8 | import edu.wpi.first.wpilibj.Encoder; |
ccbc35ae | 9 | import edu.wpi.first.wpilibj.RobotDrive; |
38a404b3 KZ |
10 | import edu.wpi.first.wpilibj.command.Subsystem; |
11 | ||
12 | public class DriveTrain extends Subsystem { | |
cc42bd52 ME |
13 | private static DriveTrain driveTrain; |
14 | private final CANTalon frontLeft, frontRight, rearLeft, rearRight; | |
15 | private final RobotDrive robotDrive; | |
16 | private final Encoder leftEncoder, rightEncoder; | |
17 | ||
18 | private DriveTrain() { | |
19 | // MOTOR CONTROLLERS | |
20 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); | |
21 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
22 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
23 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
24 | ||
25 | // ENCODERS | |
26 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, | |
27 | Constants.DriveTrain.ENCODER_LEFT_B); | |
28 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, | |
29 | Constants.DriveTrain.ENCODER_RIGHT_B); | |
30 | ||
31 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
32 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
33 | ||
34 | // ROBOT DRIVE | |
35 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); | |
36 | } | |
37 | ||
38 | public static DriveTrain getDriveTrain() { | |
39 | if (driveTrain == null) { | |
40 | driveTrain = new DriveTrain(); | |
41 | } | |
42 | return driveTrain; | |
43 | } | |
44 | ||
45 | // DRIVE METHODS | |
46 | public void setMotorValues(final double left, final double right) { | |
47 | frontLeft.set(left); | |
48 | rearLeft.set(left); | |
49 | ||
b081e34b ME |
50 | frontRight.set(-right); |
51 | rearRight.set(-right); | |
cc42bd52 ME |
52 | } |
53 | ||
54 | public void joystickDrive(final double thrust, final double twist) { | |
b081e34b | 55 | robotDrive.arcadeDrive(thrust, twist, true); |
cc42bd52 ME |
56 | } |
57 | ||
58 | public void stop() { | |
59 | setMotorValues(0, 0); | |
60 | } | |
61 | ||
62 | public double getFrontLeftMotorVal() { | |
63 | return frontLeft.get(); | |
64 | } | |
65 | ||
66 | public double getFrontRightMotorVal() { | |
67 | return frontRight.get(); | |
68 | } | |
69 | ||
70 | public double getRearLeftMotorVal() { | |
71 | return frontLeft.get(); | |
72 | } | |
73 | ||
74 | public double getRearRightMotorVal() { | |
75 | return frontLeft.get(); | |
76 | } | |
77 | ||
78 | public CANTalon getFrontLeft() { | |
79 | return frontLeft; | |
80 | } | |
81 | ||
82 | public CANTalon getFrontRight() { | |
83 | return frontRight; | |
84 | } | |
85 | ||
86 | public CANTalon getRearLeft() { | |
87 | return rearLeft; | |
88 | } | |
89 | ||
90 | public CANTalon getRearRight() { | |
91 | return rearRight; | |
92 | } | |
93 | ||
94 | // ENCODER METHODS | |
95 | ||
96 | public double getLeftEncoder() { | |
97 | return leftEncoder.getDistance(); | |
98 | } | |
99 | ||
100 | public double getRightEncoder() { | |
101 | return rightEncoder.getDistance(); | |
102 | } | |
103 | ||
104 | public double getAvgEncoderDistance() { | |
105 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
106 | } | |
107 | ||
108 | public void resetEncoders() { | |
109 | leftEncoder.reset(); | |
110 | rightEncoder.reset(); | |
111 | } | |
112 | ||
113 | public double getLeftSpeed() { | |
114 | return leftEncoder.getRate(); | |
115 | } | |
116 | ||
117 | public double getRightSpeed() { | |
118 | return rightEncoder.getRate(); | |
119 | } | |
120 | ||
121 | public double getSpeed() { | |
122 | return (getLeftSpeed() + getRightSpeed()) / 2.0; | |
123 | } | |
124 | ||
125 | @Override | |
126 | protected void initDefaultCommand() { | |
127 | setDefaultCommand(new JoystickDrive()); | |
128 | } | |
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129 | |
130 | } |