Made DriveStraight a method correctStraightness() in drive train. NOTE: Tends to...

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / subsystems / DriveTrain.java

package org.usfirst.frc.team3501.robot.subsystems;

import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;

import com.ctre.CANTalon;

import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.command.Subsystem;

public class DriveTrain extends Subsystem {
  public static final double WHEEL_DIAMETER = 6; // inches
  public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
      / ENCODER_PULSES_PER_REVOLUTION;

  private static DriveTrain driveTrain;
  private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  private final RobotDrive robotDrive;
  private final Encoder leftEncoder, rightEncoder;

  private DriveTrain() {
    // MOTOR CONTROLLERS
    frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
    frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
    rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
    rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);

    // ENCODERS
    leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
        Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
    rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
        Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);

    leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
    rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);

    // ROBOT DRIVE
    robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  }

  public static DriveTrain getDriveTrain() {
    if (driveTrain == null) {
      driveTrain = new DriveTrain();
    }
    return driveTrain;
  }

  // DRIVE METHODS
  public void setMotorValues(final double left, final double right) {
    frontLeft.set(left);
    rearLeft.set(left);

    frontRight.set(-right);
    rearRight.set(-right);
  }

  public void joystickDrive(final double thrust, final double twist) {
    robotDrive.arcadeDrive(thrust, twist, true);
  }

  public void stop() {
    setMotorValues(0, 0);
  }

  public void correctStraightness() {

    double speedL, speedR, tempSpeedR;

    // Max speed at mv of 0.2 (RIGHT)
    final double maxSpeedOneR = 16.1;
    // Max speed at mv of 0.4 (RIGHT)
    final double maxSpeedTwoR = 49;
    // Max speed at mv of 0.6 (RIGHT)
    final double maxSpeedThreeR = 75.2;
    // Max speed at mv of 0.2 (LEFT)
    final double maxSpeedOneL = 13.8;
    // Max speed at mv of 0.4 (LEFT)
    final double maxSpeedTwoL = 46.9;
    // Max speed at mv of 0.6 (LEFT)
    final double maxSpeedThreeL = 74;

    speedL = Robot.getDriveTrain().getLeftSpeed();
    speedR = Robot.getDriveTrain().getRightSpeed();

    // Motor values for both motors
    Double mvR = null, mvL = null;

    // NOTE: Make threshold. Robot tends to go haywire.
    // getting speed for both motors and exchanging them
    speedL = Robot.getDriveTrain().getLeftSpeed();
    speedR = Robot.getDriveTrain().getRightSpeed();
    tempSpeedR = speedR;
    speedR = speedL;
    speedL = tempSpeedR;

    // converting right motor speed to motor value
    if (speedR <= maxSpeedOneR) {
      mvR = speedR / maxSpeedOneR * 5;
    } else if (speedR <= maxSpeedTwoR) {
      mvR = speedR / maxSpeedTwoR * 2.5;
    } else if (speedR <= maxSpeedThreeR) {
      mvR = speedR / maxSpeedThreeR * 1.66;
    }

    // converting left motor speed to motor value
    if (speedL <= maxSpeedOneL) {
      mvL = speedL / maxSpeedOneL * 5;
    } else if (speedL <= maxSpeedTwoL) {
      mvL = speedL / maxSpeedTwoL * 2.5;
    } else if (speedL <= maxSpeedThreeL) {
      mvL = speedL / maxSpeedThreeL * 1.66;
    }

    // Setting motors at new motor values
    if (mvR != null && mvL != null) {
      Robot.getDriveTrain().setMotorValues(mvR, mvL); // we changed move to //
    } // speed

  }

  public double getFrontLeftMotorVal() {
    return frontLeft.get();
  }

  public double getFrontRightMotorVal() {
    return frontRight.get();
  }

  public double getRearLeftMotorVal() {
    return frontLeft.get();
  }

  public double getRearRightMotorVal() {
    return frontLeft.get();
  }

  // ENCODER METHODS

  public double getLeftEncoderDistance() {
    return leftEncoder.getDistance();
  }

  public double getRightEncoderDistance() {
    return rightEncoder.getDistance();
  }

  public double getAvgEncoderDistance() {
    return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
  }

  public void resetEncoders() {
    leftEncoder.reset();
    rightEncoder.reset();
  }

  public double getLeftSpeed() {
    return leftEncoder.getRate();
  }

  public double getRightSpeed() {
    return rightEncoder.getRate();
  }

  public double getSpeed() {
    return (getLeftSpeed() + getRightSpeed()) / 2.0;
  }

  @Override
  protected void initDefaultCommand() {
    setDefaultCommand(new JoystickDrive());
  }

}