Make methods to convert DegreesPerSecond to Degrees

[3501/stronghold-2016] / 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 6936abf72335a05142e400b45f673cf63342fcb1..3d70d006f9e8c9948879df9b397d4bf219b2fa93 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,12 +1,15 @@
 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 {
@@ -14,6 +17,35 @@ public class DriveTrain extends Subsystem {
   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);
@@ -28,6 +60,11 @@ public class DriveTrain extends Subsystem {
         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