add PIDController

[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 a5987e1fa4c914432e05c2065a9432c49e5cc9bb..364340e106f2901ab65720f71d0f402df0aa950d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -10,6 +10,11 @@ import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
+  public static final double WHEEL_DIAMETER = 6; // inches
+  public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
+  public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
+      / ENCODER_PULSES_PER_REVOLUTION;
+
   private static DriveTrain driveTrain;
   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
   private final RobotDrive robotDrive;
@@ -24,12 +29,12 @@ public class DriveTrain extends Subsystem {
 
     // ENCODERS
     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
-        Constants.DriveTrain.ENCODER_LEFT_B);
+        Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
-        Constants.DriveTrain.ENCODER_RIGHT_B);
+        Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
 
-    leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
-    rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+    leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
+    rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
 
     // ROBOT DRIVE
     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
@@ -75,29 +80,13 @@ public class DriveTrain extends Subsystem {
     return frontLeft.get();
   }
 
-  public CANTalon getFrontLeft() {
-    return frontLeft;
-  }
-
-  public CANTalon getFrontRight() {
-    return frontRight;
-  }
-
-  public CANTalon getRearLeft() {
-    return rearLeft;
-  }
-
-  public CANTalon getRearRight() {
-    return rearRight;
-  }
-
   // ENCODER METHODS
 
-  public double getLeftEncoder() {
+  public double getLeftEncoderDistance() {
     return leftEncoder.getDistance();
   }
 
-  public double getRightEncoder() {
+  public double getRightEncoderDistance() {
     return rightEncoder.getDistance();
   }