| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | import org.usfirst.frc.team3501.robot.FirebotGyro; |
| 5 | import org.usfirst.frc.team3501.robot.Lidar; |
| 6 | |
| 7 | import edu.wpi.first.wpilibj.AnalogInput; |
| 8 | import edu.wpi.first.wpilibj.CANTalon; |
| 9 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; |
| 10 | import edu.wpi.first.wpilibj.Encoder; |
| 11 | import edu.wpi.first.wpilibj.I2C; |
| 12 | import edu.wpi.first.wpilibj.PIDController; |
| 13 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 14 | |
| 15 | public class DriveTrain extends Subsystem { |
| 16 | // Drivetrain related objects |
| 17 | private Encoder leftEncoder, rightEncoder; |
| 18 | public static Lidar lidar; |
| 19 | private CANTalon frontLeft, frontRight, rearLeft, rearRight; |
| 20 | private PIDController frontLeftC, frontRightC, rearLeftC, rearRightC; |
| 21 | // Drivetrain specific constants that relate to the inches per pulse value for |
| 22 | // the encoders |
| 23 | private final static double WHEEL_DIAMETER = 6.0; // in inches |
| 24 | private final static double PULSES_PER_ROTATION = 256; // in pulses |
| 25 | private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches |
| 26 | private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches |
| 27 | public final static double INCHES_PER_PULSE = (((Math.PI) |
| 28 | * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) |
| 29 | / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER; |
| 30 | |
| 31 | // Drivetrain specific constants that relate to the PID controllers |
| 32 | private final static double Kp = 1.0, Ki = 0.0, |
| 33 | Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) |
| 34 | / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER; |
| 35 | |
| 36 | public AnalogInput channel; |
| 37 | public FirebotGyro gyro; |
| 38 | |
| 39 | public DriveTrain() { |
| 40 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); |
| 41 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); |
| 42 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); |
| 43 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); |
| 44 | |
| 45 | lidar = new Lidar(I2C.Port.kOnboard); |
| 46 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, |
| 47 | Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X); |
| 48 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, |
| 49 | Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X); |
| 50 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); |
| 51 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); |
| 52 | leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
| 53 | rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
| 54 | |
| 55 | gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68); |
| 56 | gyro.initialize(); |
| 57 | } |
| 58 | |
| 59 | @Override |
| 60 | protected void initDefaultCommand() { |
| 61 | } |
| 62 | |
| 63 | public void resetEncoders() { |
| 64 | leftEncoder.reset(); |
| 65 | rightEncoder.reset(); |
| 66 | } |
| 67 | |
| 68 | public double getLidarDistance() { |
| 69 | return lidar.pidGet(); |
| 70 | } |
| 71 | |
| 72 | public double getRightSpeed() { |
| 73 | return rightEncoder.getRate(); // in inches per second |
| 74 | } |
| 75 | |
| 76 | public double getLeftSpeed() { |
| 77 | return leftEncoder.getRate(); // in inches per second |
| 78 | } |
| 79 | |
| 80 | public double getSpeed() { |
| 81 | return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second |
| 82 | } |
| 83 | |
| 84 | public double getRightDistance() { |
| 85 | return rightEncoder.getDistance(); // in inches |
| 86 | } |
| 87 | |
| 88 | public double getLeftDistance() { |
| 89 | return leftEncoder.getDistance(); // in inches |
| 90 | } |
| 91 | |
| 92 | public double getDistance() { |
| 93 | return (getRightDistance() + getLeftDistance()) / 2.0; // in inches |
| 94 | } |
| 95 | |
| 96 | public void stop() { |
| 97 | setMotorSpeeds(0, 0); |
| 98 | } |
| 99 | |
| 100 | public void setMotorSpeeds(double leftSpeed, double rightSpeed) { |
| 101 | // speed passed to right motor is negative because right motor rotates in |
| 102 | // opposite direction |
| 103 | this.frontLeft.set(leftSpeed); |
| 104 | this.frontRight.set(-rightSpeed); |
| 105 | this.rearLeft.set(leftSpeed); |
| 106 | this.rearRight.set(-rightSpeed); |
| 107 | } |
| 108 | } |