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.AnalogInput;
   7 import edu.wpi.first.wpilibj.CANTalon;
   8 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
   9 import edu.wpi.first.wpilibj.Encoder;
  10 import edu.wpi.first.wpilibj.I2C;
  11 import edu.wpi.first.wpilibj.PIDController;
  12 import edu.wpi.first.wpilibj.command.Subsystem;
  13
  14 public class DriveTrain extends Subsystem {
  15   // Drivetrain related objects
  16   private Encoder leftEncoder, rightEncoder;
  17   public static Lidar leftLidar;
  18   public static Lidar rightLidar;
  19   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
  20   private PIDController frontLeftC, frontRightC, rearLeftC, rearRightC;
  21   // Drivetrain specific constants that relate to the inches per pulse value for
  22   // the encoders
  23   private final static double WHEEL_DIAMETER = 6.0; // in inches
  24   private final static double PULSES_PER_ROTATION = 256; // in pulses
  25   private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
  26   private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
  27   public final static double INCHES_PER_PULSE = (((Math.PI)
  28       * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
  29       / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
  30   // Drivetrain specific constants that relate to the PID controllers
  31   private final static double Kp = 1.0, Ki = 0.0,
  32       Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
  33       / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
  34
  35   public AnalogInput channel;
  36
  37   public DriveTrain() {
  38     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  39     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  40     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  41     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  42
  43     leftLidar = new Lidar(I2C.Port.kOnboard);
  44     rightLidar = new Lidar(I2C.Port.kOnboard); // TODO: find port for second
  45     // lidar
  46     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  47         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
  48     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  49         Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
  50     leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  51     rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  52     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  53     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  54
  55   }
  56
  57   @Override
  58   protected void initDefaultCommand() {
  59   }
  60
  61   public void resetEncoders() {
  62     leftEncoder.reset();
  63     rightEncoder.reset();
  64   }
  65
  66   public double getLeftLidarDistance() {
  67     return leftLidar.pidGet();
  68   }
  69
  70   public double getRightLidarDistance() {
  71     return rightLidar.pidGet();
  72   }
  73
  74   public double getRightSpeed() {
  75     return rightEncoder.getRate(); // in inches per second
  76   }
  77
  78   public double getLeftSpeed() {
  79     return leftEncoder.getRate(); // in inches per second
  80   }
  81
  82   public double getSpeed() {
  83     return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
  84   }
  85
  86   public double getRightDistance() {
  87     return rightEncoder.getDistance(); // in inches
  88   }
  89
  90   public double getLeftDistance() {
  91     return leftEncoder.getDistance(); // in inches
  92   }
  93
  94   public double getDistance() {
  95     return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
  96   }
  97
  98   public void stop() {
  99     setMotorSpeeds(0, 0);
 100   }
 101
 102   public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
 103     // speed passed to right motor is negative because right motor rotates in
 104     // opposite direction
 105     this.frontLeft.set(leftSpeed);
 106     this.frontRight.set(-rightSpeed);
 107     this.rearLeft.set(leftSpeed);
 108     this.rearRight.set(-rightSpeed);
 109   }
 110 }