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 {
- private CANTalon frontLeft, frontRight, rearLeft, rearRight;
- // operational constants
- // TODO: More descriptive comments
- // 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;
+ // Drivetrain related objects
private Encoder leftEncoder, rightEncoder;
+ public static Lidar lidar;
+ private CANTalon frontLeft, frontRight, rearLeft, rearRight;
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);
- // TODO: Same thing add newlines between different groups of declarations
- // and add comments
+
+ 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();
}
- // Returns inches per second
+ public double getLidarDistance() {
+ return lidar.pidGet();
+ }
+
public double getRightSpeed() {
- return rightEncoder.getRate();
+ return rightEncoder.getRate(); // in inches per second
}
public double getLeftSpeed() {
- return leftEncoder.getRate();
+ return leftEncoder.getRate(); // in inches per second
}
public double getSpeed() {
- return (getLeftSpeed() + getRightSpeed()) / 2.0;
+ return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
}
- // Returns distance in in
public double getRightDistance() {
- return rightEncoder.getDistance();
+ return rightEncoder.getDistance(); // in inches
}
- // Returns distance in in
public double getLeftDistance() {
- return leftEncoder.getDistance();
+ return leftEncoder.getDistance(); // in inches
}
public double getDistance() {
- return (getRightDistance() + getLeftDistance()) / 2.0;
+ return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
}
public void stop() {
}
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);
- // TODO: add comment here to explain - in speed
}
-
}