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.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 leftLidar;
  19   public static Lidar rightLidar;
  20   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
  21   private PIDController frontLeftC, frontRightC, rearLeftC, rearRightC;
  22   // Drivetrain specific constants that relate to the inches per pulse value for
  23   // the encoders
  24   private final static double WHEEL_DIAMETER = 6.0; // in inches
  25   private final static double PULSES_PER_ROTATION = 256; // in pulses
  26   private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
  27   private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
  28   public final static double INCHES_PER_PULSE = (((Math.PI)
  29       * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
  30       / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
  31
  32   // Drivetrain specific constants that relate to the PID controllers
  33   private final static double Kp = 1.0, Ki = 0.0,
  34       Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
  35           / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
  36
  37   public AnalogInput channel;
  38
  39   // Gyro stuff
  40   private final static double NANOSECONDS_PER_SECOND = 1000000000;
  41   short rawValue;
  42   public FirebotGyro gyro;
  43
  44   double initialSpeedNanoseconds;
  45   double finalSpeedNanoseconds;
  46   double initialSpeedSeconds;
  47   double finalSpeedSeconds;
  48   double deltaSpeed;
  49   double degrees;
  50
  51   public DriveTrain() {
  52     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  53     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  54     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  55     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  56
  57     leftLidar = new Lidar(I2C.Port.kOnboard);
  58     rightLidar = new Lidar(I2C.Port.kOnboard); // TODO: find port for second
  59                                                // lidar
  60     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  61         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
  62     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  63         Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
  64     leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  65     rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  66     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  67     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  68
  69     gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
  70     gyro.initialize();
  71   }
  72
  73   @Override
  74   protected void initDefaultCommand() {
  75   }
  76
  77   public void resetEncoders() {
  78     leftEncoder.reset();
  79     rightEncoder.reset();
  80   }
  81
  82   public double getLeftLidarDistance() {
  83     return leftLidar.pidGet();
  84   }
  85
  86   public double getRightLidarDistance() {
  87     return rightLidar.pidGet();
  88   }
  89
  90   public double getRightSpeed() {
  91     return rightEncoder.getRate(); // in inches per second
  92   }
  93
  94   public double getLeftSpeed() {
  95     return leftEncoder.getRate(); // in inches per second
  96   }
  97
  98   public double getSpeed() {
  99     return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
 100   }
 101
 102   public double getRightDistance() {
 103     return rightEncoder.getDistance(); // in inches
 104   }
 105
 106   public double getLeftDistance() {
 107     return leftEncoder.getDistance(); // in inches
 108   }
 109
 110   public double getDistance() {
 111     return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
 112   }
 113
 114   public void stop() {
 115     setMotorSpeeds(0, 0);
 116   }
 117
 118   public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
 119     // speed passed to right motor is negative because right motor rotates in
 120     // opposite direction
 121     this.frontLeft.set(leftSpeed);
 122     this.frontRight.set(-rightSpeed);
 123     this.rearLeft.set(leftSpeed);
 124     this.rearRight.set(-rightSpeed);
 125   }
 126 }