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 edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
- public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
- defaultGyroD = -0.005;
- private double gyroZero = 0;
+ 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 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 MAINTAIN_CLIMBED_POSITION = 0;
+ public static final double TIME_TO_CLIMB_FOR = 0;
+ public static final double CLIMBER_SPEED = 0;
+
private static DriveTrain driveTrain;
+
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
private final RobotDrive robotDrive;
private final Encoder leftEncoder, rightEncoder;
- private final DoubleSolenoid shifter;
+ private final DoubleSolenoid leftGearPiston, rightGearPiston;
private ADXRS450_Gyro imu;
+ public boolean shouldBeClimbing = false;
+
private DriveTrain() {
// MOTOR CONTROLLERS
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
- shifter = DoubleSolenoid(10, Constants.DriveTrain.SHIFTER_FORWARD,
- Constants.DriveTrain.SHIFTER_REVERSE);
+
+ // TODO: Not sure if MODULE_NUMBER should be the same for both
+ leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
+ Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
+ Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
+ rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
+ Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
+ Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
}
public static DriveTrain getDriveTrain() {
}
// DRIVE METHODS
- public void setMotorValues(final double left, final double right) {
+ public void setMotorValues(double left, double right) {
+ left = MathLib.restrictToRange(left, 0.0, 1.0);
+ right = MathLib.restrictToRange(right, 0.0, 1.0);
+
frontLeft.set(left);
rearLeft.set(left);
}
public void printEncoderOutput() {
- // System.out.println("left: " + getLeftEncoderDistance());
- // System.out.println("right: " + getRightEncoderDistance());
- System.out.println(getAvgEncoderDistance());
+ System.out.println("left: " + getLeftEncoderDistance());
+ System.out.println("right: " + getRightEncoderDistance());
+ // System.out.println(getAvgEncoderDistance());
}
public double getAvgEncoderDistance() {
// ------Gyro------//
public double getAngle() {
- return this.imu.getAngle() - this.gyroZero;
+ return this.imu.getAngle();
}
public void resetGyro() {
this.imu.reset();
}
- public double getZeroAngle() {
- return this.gyroZero;
+ /*
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
+ */
+ public Value getLeftGearPistonValue() {
+ return leftGearPiston.get();
+ }
+
+ /*
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
+ */
+ public Value getRightGearPistonValue() {
+ return rightGearPiston.get();
+ }
+
+ /*
+ * Changes the ball shift gear assembly to high
+ */
+ public void setHighGear() {
+ changeGear(Constants.DriveTrain.HIGH_GEAR);
+ }
+
+ /*
+ * Changes the ball shift gear assembly to low
+ */
+ public void setLowGear() {
+ changeGear(Constants.DriveTrain.LOW_GEAR);
+ }
+
+ /*
+ * Changes the gear to a DoubleSolenoid.Value
+ */
+ private void changeGear(DoubleSolenoid.Value gear) {
+ leftGearPiston.set(gear);
+ rightGearPiston.set(gear);
}
@Override
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());
}
-
}