package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Lidar;
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.command.Subsystem;
public class DriveTrain extends Subsystem {
- // Drivetrain Related Objects
- private CANTalon frontLeft, frontRight, rearLeft, rearRight;
+ // Drivetrain related objects
private Encoder leftEncoder, rightEncoder;
-
- // Drivetrain Specific Constants that relate to the Inches per Pulse value of
- // 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 static Lidar lidar;
+ private CANTalon frontLeft, frontRight, rearLeft, rearRight;
public DriveTrain() {
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
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(INCHES_PER_PULSE);
- rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
+ leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+ rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
}
@Override
rightEncoder.reset();
}
+ public double getLidarDistance() {
+ return lidar.pidGet();
+ }
+
public double getRightSpeed() {
return rightEncoder.getRate(); // in inches per second
}
}
public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
- // Right motors receive negative values because they turn in the opposite
- // direction
+ // 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);
}
-
}