import CANTalon from ctre instead of wpilib libraries

[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 af22b6812d5d20125a1959d47b64365b6db490a7..5389b235380b3a081a6c9c7b34b4e1b72b93edfe 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -4,35 +4,121 @@ import org.usfirst.frc.team3501.robot.Constants;
 
 import com.ctre.CANTalon;
 
+import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-    private static DriveTrain driveTrain;
-    private CANTalon frontLeft, frontRight, rearLeft, rearRight;
-    private RobotDrive robotDrive;
+  private static DriveTrain driveTrain;
+  private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
+  private final RobotDrive robotDrive;
+  private final Encoder leftEncoder, rightEncoder;
 
-    private 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);
+  private DriveTrain() {
+    // MOTOR CONTROLLERS
+    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);
 
-        robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
-    }
+    // ENCODERS
+    leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
+        Constants.DriveTrain.ENCODER_LEFT_B);
+    rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
+        Constants.DriveTrain.ENCODER_RIGHT_B);
 
-    public static DriveTrain getDriveTrain() {
-        if (driveTrain == null)
-            driveTrain = new DriveTrain();
-        return driveTrain;
-    }
+    leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+    rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
 
-    public void setMotorSpeeds(double left, double right) {
-        robotDrive.tankDrive(left, right);
-    }
+    // ROBOT DRIVE
+    robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
+  }
 
-    @Override
-    protected void initDefaultCommand() {
+  public static DriveTrain getDriveTrain() {
+    if (driveTrain == null) {
+      driveTrain = new DriveTrain();
     }
+    return driveTrain;
+  }
+
+  // DRIVE METHODS
+  public void setMotorValues(final double left, final double right) {
+    robotDrive.tankDrive(left, right);
+  }
+
+  public void joystickDrive(final double left, final double right) {
+    robotDrive.tankDrive(left, right);
+  }
+
+  public void stop() {
+    setMotorValues(0, 0);
+  }
+
+  public double getFrontLeftMotorVal() {
+    return frontLeft.get();
+  }
+
+  public double getFrontRightMotorVal() {
+    return frontRight.get();
+  }
+
+  public double getRearLeftMotorVal() {
+    return frontLeft.get();
+  }
+
+  public double getRearRightMotorVal() {
+    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() {
+    return leftEncoder.getDistance();
+  }
+
+  public double getRightEncoder() {
+    return rightEncoder.getDistance();
+  }
+
+  public double getAvgEncoderDistance() {
+    return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
+  }
+
+  public void resetEncoders() {
+    leftEncoder.reset();
+    rightEncoder.reset();
+  }
+
+  public double getLeftSpeed() {
+    return leftEncoder.getRate();
+  }
+
+  public double getRightSpeed() {
+    return rightEncoder.getRate();
+  }
+
+  public double getSpeed() {
+    return (getLeftSpeed() + getRightSpeed()) / 2.0;
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
 
 }