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   short rawValue;
  41   public FirebotGyro gyro;
  42
  43   public DriveTrain() {
  44     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  45     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  46     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  47     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  48
  49     leftLidar = new Lidar(I2C.Port.kOnboard);
  50     rightLidar = new Lidar(I2C.Port.kOnboard); // TODO: find port for second
  51                                                // lidar
  52     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  53         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
  54     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  55         Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
  56     leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  57     rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  58     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  59     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  60
  61     gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
  62     gyro.initialize();
  63   }
  64
  65   @Override
  66   protected void initDefaultCommand() {
  67   }
  68
  69   public void resetEncoders() {
  70     leftEncoder.reset();
  71     rightEncoder.reset();
  72   }
  73
  74   public double getLeftLidarDistance() {
  75     return leftLidar.pidGet();
  76   }
  77
  78   public double getRightLidarDistance() {
  79     return rightLidar.pidGet();
  80   }
  81
  82   public double getRightSpeed() {
  83     return rightEncoder.getRate(); // in inches per second
  84   }
  85
  86   public double getLeftSpeed() {
  87     return leftEncoder.getRate(); // in inches per second
  88   }
  89
  90   public double getSpeed() {
  91     return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
  92   }
  93
  94   public double getRightDistance() {
  95     return rightEncoder.getDistance(); // in inches
  96   }
  97
  98   public double getLeftDistance() {
  99     return leftEncoder.getDistance(); // in inches
 100   }
 101
 102   public double getDistance() {
 103     return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
 104   }
 105
 106   public void stop() {
 107     setMotorSpeeds(0, 0);
 108   }
 109
 110   public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
 111     // speed passed to right motor is negative because right motor rotates in
 112     // opposite direction
 113     this.frontLeft.set(leftSpeed);
 114     this.frontRight.set(-rightSpeed);
 115     this.rearLeft.set(leftSpeed);
 116     this.rearRight.set(-rightSpeed);
 117   }
 118 }