package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.FirebotGyro;
+import org.usfirst.frc.team3501.robot.Lidar;
+import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- private CANTalon frontLeft, frontRight, rearLeft, rearRight;
- // operational constants
-
- // inches/pulse
- private final static double WHEEL_DIAMETER = 6.0; // in inches
- private final static double PULSES_PER_ROTATION = 256;
- private final static double OUTPUT_SPROCKET_DIAMETER = 2.0;
- private final static double WHEEL_SPROCKET_DIAMETER = 3.5;
-
- public final static double INCHES_PER_PULSE = (((Math.PI)
- * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER)
- * WHEEL_DIAMETER;
- private Encoder leftEncoder, rightEncoder;
-
- public DriveTrain() {
- frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
- frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
- rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
- rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
- leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
- Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
- rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
- Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
- leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
- rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
- }
-
- @Override
- protected void initDefaultCommand() {
- }
-
- public void resetEncoders() {
- leftEncoder.reset();
- rightEncoder.reset();
- }
-
- // Returns inches per second
- public double getRightSpeed() {
- return rightEncoder.getRate();
- }
-
- public double getLeftSpeed() {
- return leftEncoder.getRate();
- }
-
- public double getSpeed() {
- return (getLeftSpeed() + getRightSpeed()) / 2.0;
- }
-
- // Returns distance in in
- public double getRightDistance() {
- return rightEncoder.getDistance();
- }
-
- // Returns distance in in
- public double getLeftDistance() {
- return leftEncoder.getDistance();
- }
-
- public double getDistance() {
- return (getRightDistance() + getLeftDistance()) / 2.0;
- }
-
- public void stop() {
- setMotorSpeeds(0, 0);
- }
-
- public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
- this.frontLeft.set(leftSpeed);
- this.frontRight.set(-rightSpeed);
- this.rearLeft.set(leftSpeed);
- this.rearRight.set(-rightSpeed);
- }
-
+ // Drivetrain related objects
+ private Encoder leftEncoder, rightEncoder;
+ public static Lidar lidar;
+ private CANTalon frontLeft, frontRight, rearLeft, rearRight;
+ private PIDController frontLeftC, frontRightC, rearLeftC, rearRightC;
+ // Drivetrain specific constants that relate to the inches per pulse value for
+ // the encoders
+ private final static double WHEEL_DIAMETER = 6.0; // in inches
+ private final static double PULSES_PER_ROTATION = 256; // in pulses
+ private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+ private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
+ public final static double INCHES_PER_PULSE = (((Math.PI)
+ * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+ / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+
+ // Drivetrain specific constants that relate to the PID controllers
+ private final static double Kp = 1.0, Ki = 0.0,
+ Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+ / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+
+ public AnalogInput channel;
+
+ // Gyro stuff
+ private final static double NANOSECONDS_PER_SECOND = 1000000000;
+ short rawValue;
+ public FirebotGyro gyro;
+
+ double initialSpeedNanoseconds;
+ double finalSpeedNanoseconds;
+ double initialSpeedSeconds;
+ double finalSpeedSeconds;
+ double deltaSpeed;
+ double degrees;
+
+ public DriveTrain() {
+ frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
+ frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
+ rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
+ rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
+
+ lidar = new Lidar(I2C.Port.kOnboard);
+ leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
+ Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
+ rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
+ Constants.DriveTrain.ENCODER_RIGHT_B, false, 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);
+
+ gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+ gyro.initialize();
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+ }
+
+ public void resetEncoders() {
+ leftEncoder.reset();
+ rightEncoder.reset();
+ }
+
+ public double getLidarDistance() {
+ return lidar.pidGet();
+ }
+
+ public double getRightSpeed() {
+ return rightEncoder.getRate(); // in inches per second
+ }
+
+ public double getLeftSpeed() {
+ return leftEncoder.getRate(); // in inches per second
+ }
+
+ public double getSpeed() {
+ return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
+ }
+
+ public double getRightDistance() {
+ return rightEncoder.getDistance(); // in inches
+ }
+
+ public double getLeftDistance() {
+ return leftEncoder.getDistance(); // in inches
+ }
+
+ public double getDistance() {
+ return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
+ }
+
+ public void stop() {
+ setMotorSpeeds(0, 0);
+ }
+
+ public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
+ // speed passed to right motor is negative because right motor rotates in
+ // opposite direction
+ this.frontLeft.set(leftSpeed);
+ this.frontRight.set(-rightSpeed);
+ this.rearLeft.set(leftSpeed);
+ this.rearRight.set(-rightSpeed);
+ }
}
projects / 3501 / stronghold-2016 / blobdiff