| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | import org.usfirst.frc.team3501.robot.GyroLib; |
| 5 | import org.usfirst.frc.team3501.robot.MathLib; |
| 6 | import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive; |
| 7 | |
| 8 | import edu.wpi.first.wpilibj.CANTalon; |
| 9 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; |
| 10 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
| 11 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; |
| 12 | import edu.wpi.first.wpilibj.Encoder; |
| 13 | import edu.wpi.first.wpilibj.I2C; |
| 14 | import edu.wpi.first.wpilibj.RobotDrive; |
| 15 | import edu.wpi.first.wpilibj.command.PIDSubsystem; |
| 16 | |
| 17 | public class DriveTrain extends PIDSubsystem { |
| 18 | private static double kp = 0.013, ki = 0.000015, kd = -0.002; |
| 19 | private static double gp = 0.018, gi = 0.000015, gd = 0; |
| 20 | private static double pidOutput = 0; |
| 21 | private static double encoderTolerance = 8.0, gyroTolerance = 5.0; |
| 22 | private int DRIVE_MODE = 1; |
| 23 | |
| 24 | private static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3; |
| 25 | |
| 26 | private Encoder leftEncoder, rightEncoder; |
| 27 | |
| 28 | public static Lidar leftLidar; |
| 29 | public static Lidar rightLidar; |
| 30 | |
| 31 | private CANTalon frontLeft, frontRight, rearLeft, rearRight; |
| 32 | private RobotDrive robotDrive; |
| 33 | |
| 34 | private GyroLib gyro; |
| 35 | private DoubleSolenoid leftGearPiston, rightGearPiston; |
| 36 | // Drivetrain specific constants that relate to the inches per pulse value for |
| 37 | // the encoders |
| 38 | private final static double WHEEL_DIAMETER = 6.0; // in inches |
| 39 | private final static double PULSES_PER_ROTATION = 256; // in pulses |
| 40 | private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches |
| 41 | private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches |
| 42 | public final static double INCHES_PER_PULSE = (((Math.PI) |
| 43 | * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) |
| 44 | / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER; |
| 45 | |
| 46 | // Drivetrain specific constants that relate to the PID controllers |
| 47 | private final static double Kp = 1.0, Ki = 0.0, |
| 48 | Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) |
| 49 | / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER; |
| 50 | |
| 51 | public DriveTrain() { |
| 52 | super(kp, ki, kd); |
| 53 | |
| 54 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); |
| 55 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); |
| 56 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); |
| 57 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); |
| 58 | |
| 59 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); |
| 60 | |
| 61 | leftLidar = new Lidar(I2C.Port.kOnboard); |
| 62 | rightLidar = new Lidar(I2C.Port.kOnboard); // TODO: find port for second |
| 63 | // lidar |
| 64 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, |
| 65 | Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X); |
| 66 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, |
| 67 | Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X); |
| 68 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); |
| 69 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); |
| 70 | |
| 71 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); |
| 72 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); |
| 73 | |
| 74 | gyro = new GyroLib(I2C.Port.kOnboard, false); |
| 75 | |
| 76 | DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE; |
| 77 | setEncoderPID(); |
| 78 | this.disable(); |
| 79 | gyro.start(); |
| 80 | |
| 81 | leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_FORWARD, |
| 82 | +Constants.DriveTrain.LEFT_REVERSE); |
| 83 | rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.RIGHT_FORWARD, |
| 84 | Constants.DriveTrain.RIGHT_REVERSE); |
| 85 | } |
| 86 | |
| 87 | @Override |
| 88 | protected void initDefaultCommand() { |
| 89 | setDefaultCommand(new JoystickDrive()); |
| 90 | } |
| 91 | |
| 92 | public void printOutput() { |
| 93 | System.out.println("PIDOutput: " + pidOutput); |
| 94 | } |
| 95 | |
| 96 | private double getAvgEncoderDistance() { |
| 97 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; |
| 98 | } |
| 99 | |
| 100 | public boolean reachedTarget() { |
| 101 | if (this.onTarget()) { |
| 102 | this.disable(); |
| 103 | return true; |
| 104 | } else { |
| 105 | return false; |
| 106 | } |
| 107 | } |
| 108 | |
| 109 | public void stop() { |
| 110 | drive(0, 0); |
| 111 | } |
| 112 | |
| 113 | public void resetEncoders() { |
| 114 | leftEncoder.reset(); |
| 115 | rightEncoder.reset(); |
| 116 | } |
| 117 | |
| 118 | public double getLeftLidarDistance() { |
| 119 | return leftLidar.pidGet(); |
| 120 | } |
| 121 | |
| 122 | public double getsRightLidarDistance() { |
| 123 | return rightLidar.pidGet(); |
| 124 | } |
| 125 | |
| 126 | public double getRightSpeed() { |
| 127 | return rightEncoder.getRate(); // in inches per second |
| 128 | } |
| 129 | |
| 130 | public double getLeftSpeed() { |
| 131 | return leftEncoder.getRate(); // in inches per second |
| 132 | } |
| 133 | |
| 134 | public double getSpeed() { |
| 135 | return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second |
| 136 | } |
| 137 | |
| 138 | public double getRightDistance() { |
| 139 | return rightEncoder.getDistance(); // in inches |
| 140 | } |
| 141 | |
| 142 | public double getLeftDistance() { |
| 143 | return leftEncoder.getDistance(); // in inches |
| 144 | } |
| 145 | |
| 146 | public double getError() { |
| 147 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) |
| 148 | return Math.abs(this.getSetpoint() - getAvgEncoderDistance()); |
| 149 | else |
| 150 | return Math.abs(this.getSetpoint() + getGyroAngle()); |
| 151 | } |
| 152 | |
| 153 | public double getGyroAngle() { |
| 154 | return gyro.getRotationZ().getAngle(); |
| 155 | } |
| 156 | |
| 157 | public void resetGyro() { |
| 158 | gyro.reset(); |
| 159 | } |
| 160 | |
| 161 | public void printEncoder(int i, int n) { |
| 162 | if (i % n == 0) { |
| 163 | System.out.println("Left: " + this.getLeftDistance()); |
| 164 | System.out.println("Right: " + this.getRightDistance()); |
| 165 | |
| 166 | } |
| 167 | } |
| 168 | |
| 169 | public void printGyroOutput() { |
| 170 | System.out.println("Gyro Angle" + -this.getGyroAngle()); |
| 171 | } |
| 172 | |
| 173 | public double getOutput() { |
| 174 | return pidOutput; |
| 175 | } |
| 176 | |
| 177 | public void updatePID() { |
| 178 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) |
| 179 | this.getPIDController().setPID(kp, ki, kd); |
| 180 | else |
| 181 | this.getPIDController().setPID(gp, gd, gi); |
| 182 | } |
| 183 | |
| 184 | public CANTalon getFrontLeft() { |
| 185 | return frontLeft; |
| 186 | } |
| 187 | |
| 188 | public CANTalon getFrontRight() { |
| 189 | return frontRight; |
| 190 | } |
| 191 | |
| 192 | public CANTalon getRearLeft() { |
| 193 | return rearLeft; |
| 194 | } |
| 195 | |
| 196 | public CANTalon getRearRight() { |
| 197 | return rearRight; |
| 198 | } |
| 199 | |
| 200 | public int getMode() { |
| 201 | return DRIVE_MODE; |
| 202 | } |
| 203 | |
| 204 | @Override |
| 205 | protected void usePIDOutput(double output) { |
| 206 | double left = 0; |
| 207 | double right = 0; |
| 208 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) { |
| 209 | double drift = this.getLeftDistance() - this.getRightDistance(); |
| 210 | if (Math.abs(output) > 0 && Math.abs(output) < 0.3) |
| 211 | output = Math.signum(output) * 0.3; |
| 212 | left = output; |
| 213 | right = output + drift * kp / 10; |
| 214 | } else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) { |
| 215 | left = output; |
| 216 | right = -output; |
| 217 | } |
| 218 | drive(left, right); |
| 219 | pidOutput = output; |
| 220 | } |
| 221 | |
| 222 | @Override |
| 223 | protected double returnPIDInput() { |
| 224 | return sensorFeedback(); |
| 225 | } |
| 226 | |
| 227 | private double sensorFeedback() { |
| 228 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) |
| 229 | return getAvgEncoderDistance(); |
| 230 | else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) |
| 231 | return -this.getGyroAngle(); |
| 232 | // counterclockwise is positive on joystick but we want it to be negative |
| 233 | else |
| 234 | return 0; |
| 235 | } |
| 236 | |
| 237 | public void drive(double left, double right) { |
| 238 | robotDrive.tankDrive(-left, -right); |
| 239 | // dunno why but inverted drive (- values is forward) |
| 240 | } |
| 241 | |
| 242 | public void driveDistance(double dist, double maxTimeOut) { |
| 243 | dist = MathLib.constrain(dist, -100, 100); |
| 244 | setEncoderPID(); |
| 245 | setSetpoint(dist); |
| 246 | } |
| 247 | |
| 248 | public void setEncoderPID() { |
| 249 | DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE; |
| 250 | this.updatePID(); |
| 251 | this.setAbsoluteTolerance(encoderTolerance); |
| 252 | this.setOutputRange(-1.0, 1.0); |
| 253 | this.setInputRange(-200.0, 200.0); |
| 254 | this.enable(); |
| 255 | } |
| 256 | |
| 257 | private void setGyroPID() { |
| 258 | DRIVE_MODE = Constants.DriveTrain.GYRO_MODE; |
| 259 | this.updatePID(); |
| 260 | this.getPIDController().setPID(gp, gi, gd); |
| 261 | |
| 262 | this.setAbsoluteTolerance(gyroTolerance); |
| 263 | this.setOutputRange(-1.0, 1.0); |
| 264 | this.setInputRange(-360.0, 360.0); |
| 265 | this.enable(); |
| 266 | } |
| 267 | |
| 268 | public void turnAngle(double angle) { |
| 269 | angle = MathLib.constrain(angle, -360, 360); |
| 270 | setGyroPID(); |
| 271 | setSetpoint(angle); |
| 272 | } |
| 273 | |
| 274 | public void setMotorSpeeds(double left, double right) { |
| 275 | // positive setpoint to left side makes it go backwards |
| 276 | // positive setpoint to right side makes it go forwards. |
| 277 | frontLeft.set(-left); |
| 278 | rearLeft.set(-left); |
| 279 | frontRight.set(right); |
| 280 | rearRight.set(right); |
| 281 | } |
| 282 | |
| 283 | public Value getLeftGearPistonValue() { |
| 284 | return leftGearPiston.get(); |
| 285 | } |
| 286 | |
| 287 | public Value getRightGearPistonValue() { |
| 288 | return rightGearPiston.get(); |
| 289 | } |
| 290 | |
| 291 | public void setHighGear() { |
| 292 | changeGear(Constants.DriveTrain.HIGH_GEAR); |
| 293 | } |
| 294 | |
| 295 | public void setLowGear() { |
| 296 | changeGear(Constants.DriveTrain.LOW_GEAR); |
| 297 | } |
| 298 | |
| 299 | public void changeGear(DoubleSolenoid.Value gear) { |
| 300 | leftGearPiston.set(gear); |
| 301 | rightGearPiston.set(gear); |
| 302 | } |
| 303 | } |