challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2
   3 import org.usfirst.frc.team3501.robot.Constants;
   4 import org.usfirst.frc.team3501.robot.Lidar;
   5
   6 import edu.wpi.first.wpilibj.CANTalon;
   7 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
   8 import edu.wpi.first.wpilibj.Encoder;
   9 import edu.wpi.first.wpilibj.I2C;
  10 import edu.wpi.first.wpilibj.command.Subsystem;
  11
  12 public class DriveTrain extends Subsystem {
  13   // Drivetrain related objects
  14   private Encoder leftEncoder, rightEncoder;
  15   public static Lidar leftLidar;
  16   public static Lidar rightLidar;
  17   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
  18
  19   public DriveTrain() {
  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     leftLidar = new Lidar(I2C.Port.kOnboard);
  26     rightLidar = new Lidar(I2C.Port.kOnboard); // TODO: find port for second
  27                                                // lidar
  28     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  29         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
  30     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  31         Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
  32     leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  33     rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  34   }
  35
  36   @Override
  37   protected void initDefaultCommand() {
  38   }
  39
  40   public void resetEncoders() {
  41     leftEncoder.reset();
  42     rightEncoder.reset();
  43   }
  44
  45   public double getLeftLidarDistance() {
  46     return leftLidar.pidGet();
  47   }
  48
  49   public double getsRightLidarDistance() {
  50     return rightLidar.pidGet();
  51   }
  52
  53   public double getRightSpeed() {
  54     return rightEncoder.getRate(); // in inches per second
  55   }
  56
  57   public double getLeftSpeed() {
  58     return leftEncoder.getRate(); // in inches per second
  59   }
  60
  61   public double getSpeed() {
  62     return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
  63   }
  64
  65   public double getRightDistance() {
  66     return rightEncoder.getDistance(); // in inches
  67   }
  68
  69   public double getLeftDistance() {
  70     return leftEncoder.getDistance(); // in inches
  71   }
  72
  73   public double getDistance() {
  74     return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
  75   }
  76
  77   public void stop() {
  78     setMotorSpeeds(0, 0);
  79   }
  80
  81   public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
  82     // speed passed to right motor is negative because right motor rotates in
  83     // opposite direction
  84     this.frontLeft.set(leftSpeed);
  85     this.frontRight.set(-rightSpeed);
  86     this.rearLeft.set(leftSpeed);
  87     this.rearRight.set(-rightSpeed);
  88   }
  89 }