import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- public static double driveP = 0.006, driveI = 0.0011, driveD = -0.002;
- public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
+ public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
+ 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 final double WHEEL_DIAMETER = 4; // inches
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;
// DRIVE METHODS
public void setMotorValues(double left, double right) {
- left = MathLib.restrictToRange(left, 0.0, 1.0);
- right = MathLib.restrictToRange(right, 0.0, 1.0);
+ left = MathLib.restrictToRange(left, -1.0, 1.0);
+ right = MathLib.restrictToRange(right, -1.0, 1.0);
frontLeft.set(left);
rearLeft.set(left);
return rightGearPiston.get();
}
+ public DoubleSolenoid getLeftPiston() {
+ return this.leftGearPiston;
+ }
+
+ public DoubleSolenoid getRightPiston() {
+ return this.rightGearPiston;
+ }
+
/*
* Changes the ball shift gear assembly to high
*/
- public void setHighGear() {
- changeGear(Constants.DriveTrain.HIGH_GEAR);
+ public void setHighGear(DoubleSolenoid p) {
+ changeGear(Constants.DriveTrain.HIGH_GEAR, p);
}
/*
* Changes the ball shift gear assembly to low
*/
- public void setLowGear() {
- changeGear(Constants.DriveTrain.LOW_GEAR);
+ public void setLowGear(DoubleSolenoid p) {
+ changeGear(Constants.DriveTrain.LOW_GEAR, p);
}
/*
* Changes the gear to a DoubleSolenoid.Value
*/
- private void changeGear(DoubleSolenoid.Value gear) {
- leftGearPiston.set(gear);
- rightGearPiston.set(gear);
+ private void changeGear(DoubleSolenoid.Value gear, DoubleSolenoid piston) {
+ piston.set(gear);
}
@Override
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());
}
+
+ public void setCANTalonsBrakeMode(boolean mode) {
+ frontLeft.enableBrakeMode(mode);
+ rearLeft.enableBrakeMode(mode);
+
+ frontRight.enableBrakeMode(mode);
+ rearRight.enableBrakeMode(mode);
+ }
}