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   public FirebotGyro gyro;
  39
  40   public DriveTrain() {
  41     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  42     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  43     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  44     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  45
  46     leftLidar = new Lidar(I2C.Port.kOnboard);
  47     rightLidar = new Lidar(I2C.Port.kOnboard); // TODO: find port for second
  48                                                // lidar
  49     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  50         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
  51     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  52         Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
  53     leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  54     rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  55     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  56     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  57
  58     gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
  59
  60   }
  61
  62   @Override
  63   protected void initDefaultCommand() {
  64   }
  65
  66   public void resetEncoders() {
  67     leftEncoder.reset();
  68     rightEncoder.reset();
  69   }
  70
  71   public double getLeftLidarDistance() {
  72     return leftLidar.pidGet();
  73   }
  74
  75   public double getRightLidarDistance() {
  76     return rightLidar.pidGet();
  77   }
  78
  79   public double getRightSpeed() {
  80     return rightEncoder.getRate(); // in inches per second
  81   }
  82
  83   public double getLeftSpeed() {
  84     return leftEncoder.getRate(); // in inches per second
  85   }
  86
  87   public double getSpeed() {
  88     return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
  89   }
  90
  91   public double getRightDistance() {
  92     return rightEncoder.getDistance(); // in inches
  93   }
  94
  95   public double getLeftDistance() {
  96     return leftEncoder.getDistance(); // in inches
  97   }
  98
  99   public double getDistance() {
 100     return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
 101   }
 102
 103   public void stop() {
 104     setMotorSpeeds(0, 0);
 105   }
 106
 107   public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
 108     // speed passed to right motor is negative because right motor rotates in
 109     // opposite direction
 110     this.frontLeft.set(leftSpeed);
 111     this.frontRight.set(-rightSpeed);
 112     this.rearLeft.set(leftSpeed);
 113     this.rearRight.set(-rightSpeed);
 114   }
 115
 116 }