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code review changes and add code for braking cantalons
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
subsystems
/
DriveTrain.java
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 0a68c4ca001b815fb5af282900fc44f6d8fb8646..bad303aebe622f0db77aa8a41d45e79b92c68325 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@
-1,6
+1,7
@@
package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
import com.ctre.CANTalon;
import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
import com.ctre.CANTalon;
@@
-14,11
+15,13
@@
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
public class DriveTrain extends Subsystem {
public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
- public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
+ public static double smallTurnP = 0.004, smallTurnI = 0.0013,
+ smallTurnD = 0.005;
+ public static double largeTurnP = .003, largeTurnI = .0012, largeTurnD = .006;
public static double driveStraightGyroP = 0.01;
public static double driveStraightGyroP = 0.01;
- public static final double WHEEL_DIAMETER =
6
; // inches
- public static final
int
ENCODER_PULSES_PER_REVOLUTION = 256;
+ public static final double WHEEL_DIAMETER =
4
; // inches
+ public static final
double
ENCODER_PULSES_PER_REVOLUTION = 256;
public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
/ ENCODER_PULSES_PER_REVOLUTION;
public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
/ ENCODER_PULSES_PER_REVOLUTION;
@@
-26,6
+29,9
@@
public class DriveTrain extends Subsystem {
public static final double TIME_TO_CLIMB_FOR = 0;
public static final double CLIMBER_SPEED = 0;
public static final double TIME_TO_CLIMB_FOR = 0;
public static final double CLIMBER_SPEED = 0;
+ public static final boolean DRIVE_BRAKE_MODE = true;
+ public static final boolean DRIVE_COAST_MODE = false;
+
private static DriveTrain driveTrain;
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
private static DriveTrain driveTrain;
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
@@
-75,7
+81,10
@@
public class DriveTrain extends Subsystem {
}
// DRIVE METHODS
}
// DRIVE METHODS
- public void setMotorValues(final double left, final double right) {
+ public void setMotorValues(double left, double right) {
+ left = MathLib.restrictToRange(left, -1.0, 1.0);
+ right = MathLib.restrictToRange(right, -1.0, 1.0);
+
frontLeft.set(left);
rearLeft.set(left);
frontLeft.set(left);
rearLeft.set(left);
@@
-187,4
+196,12
@@
public class DriveTrain extends Subsystem {
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());
}
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());
}
+
+ public void setCANTalonsBrakeMode(boolean mode) {
+ frontLeft.enableBrakeMode(mode);
+ rearLeft.enableBrakeMode(mode);
+
+ frontRight.enableBrakeMode(mode);
+ rearRight.enableBrakeMode(mode);
+ }
}
}