package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
+
+public class DriveTrain extends PIDSubsystem {
+ private boolean outputFlipped = false;
+ private static double pidOutput = 0;
-public class DriveTrain extends Subsystem {
- // Drivetrain related objects
private Encoder leftEncoder, rightEncoder;
+
private CANTalon frontLeft, frontRight, rearLeft, rearRight;
+ private RobotDrive robotDrive;
+
+ private DoubleSolenoid leftGearPiston, rightGearPiston;
// 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;
public DriveTrain() {
+ super(Constants.DriveTrain.kp, Constants.DriveTrain.ki,
+ Constants.DriveTrain.kd);
+
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);
+
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);
+ leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+ rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+
+ leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+ rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+
+ this.disable();
+
+ leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_MODULE,
+ Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
+ rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.RIGHT_MODULE,
+ Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
}
@Override
protected void initDefaultCommand() {
+ setDefaultCommand(new JoystickDrive());
+ }
+
+ // Print tne PID Output
+ public void printOutput() {
+ System.out.println("PIDOutput: " + pidOutput);
+ }
+
+ private double getAvgEncoderDistance() {
+ return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
+ }
+
+ // Whether or not the PID Controller thinks we have reached the target
+ // setpoint
+ public boolean reachedTarget() {
+ if (this.onTarget()) {
+ this.disable();
+ return true;
+ } else {
+ return false;
+ }
+ }
+
+ public void stop() {
+ drive(0, 0);
}
public void resetEncoders() {
return leftEncoder.getDistance(); // in inches
}
- public double getDistance() {
- return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
+ // Get error between the setpoint of PID Controller and the current state of
+ // the robot
+ public double getError() {
+ return Math.abs(this.getSetpoint() - getAvgEncoderDistance());
}
- public void stop() {
- setMotorSpeeds(0, 0);
+ public void printEncoder(int i, int n) {
+ if (i % n == 0) {
+ System.out.println("Left: " + this.getLeftDistance());
+ System.out.println("Right: " + this.getRightDistance());
+
+ }
+ }
+
+ /*
+ * returns the PID output that is returned by the PID Controller
+ */
+ public double getOutput() {
+ return pidOutput;
+ }
+
+ // Updates the PID constants based on which control mode is being used
+ public void updatePID() {
+ this.getPIDController().setPID(Constants.DriveTrain.kp,
+ Constants.DriveTrain.ki, Constants.DriveTrain.kd);
+ }
+
+ public CANTalon getFrontLeft() {
+ return frontLeft;
+ }
+
+ public CANTalon getFrontRight() {
+ return frontRight;
+ }
+
+ public CANTalon getRearLeft() {
+ return rearLeft;
+ }
+
+ public CANTalon getRearRight() {
+ return rearRight;
+ }
+
+ /*
+ * Method is a required method that the PID Subsystem uses to return the
+ * calculated PID value to the driver
+ *
+ * @param Gives the user the output from the PID algorithm that is calculated
+ * internally
+ *
+ * Body: Uses the output, does some filtering and drives the robot
+ */
+ @Override
+ protected void usePIDOutput(double output) {
+ double left = 0;
+ double right = 0;
+ double drift = this.getLeftDistance() - this.getRightDistance();
+ if (Math.abs(output) > 0 && Math.abs(output) < 0.3)
+ output = Math.signum(output) * 0.3;
+ left = output;
+ right = output + drift * Constants.DriveTrain.kp / 10;
+ drive(left, right);
+ pidOutput = output;
+ }
+
+ @Override
+ protected double returnPIDInput() {
+ return sensorFeedback();
+ }
+
+ /*
+ * Checks the drive mode
+ *
+ * @return the current state of the robot in each state Average distance from
+ * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
+ */
+ private double sensorFeedback() {
+ return getAvgEncoderDistance();
+ }
+
+ /*
+ * @param left and right setpoints to set to the left and right side of tank
+ * inverted is for Logan, wants the robot to invert all controls left = right
+ * and right = left negative input is required for the regular rotation
+ * because RobotDrive tankdrive method drives inverted
+ */
+ public void drive(double left, double right) {
+ robotDrive.tankDrive(-left, -right);
+ }
+
+ public void setMotorSpeeds(double left, double right) {
+ // positive setpoint to left side makes it go backwards
+ // positive setpoint to right side makes it go forwards.
+ frontLeft.set(-left);
+ rearLeft.set(-left);
+ frontRight.set(right);
+ rearRight.set(right);
+ }
+
+ /**
+ * @return a value that is the current setpoint for the piston (kReverse or
+ * kForward)
+ */
+ public Value getGearPistonValue() {
+ return leftGearPiston.get(); // Pistons should always be in the same state
+ }
+
+ /**
+ * 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
+ */
+ public void changeGear(DoubleSolenoid.Value gear) {
+ leftGearPiston.set(gear);
+ rightGearPiston.set(gear);
+ }
+
+ /**
+ * Switches drivetrain gears from high to low or low to high
+ */
+ public void switchGear() {
+ Value currentValue = getGearPistonValue();
+ Value setValue = (currentValue == Constants.DriveTrain.HIGH_GEAR) ? Constants.DriveTrain.LOW_GEAR
+ : Constants.DriveTrain.HIGH_GEAR;
+ changeGear(setValue);
+ }
+
+ /**
+ * Toggle whether the motor outputs are flipped, effectively switching which
+ * side of the robot is the front.
+ */
+ public void toggleFlipped() {
+ outputFlipped = !outputFlipped;
}
- 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);
+ public boolean isFlipped() {
+ return outputFlipped;
}
}
projects / 3501 / stronghold-2016 / blobdiff