import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
-import org.usfirst.frc.team3501.robot.utils.BNO055;
+import org.usfirst.frc.team3501.robot.utils.PIDController;
import com.ctre.CANTalon;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.I2C.Port;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
- public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
- defaultGyroD = -0.005;
- public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
- public static double defaultGyroP = 0.009, defaultGyroI = 0.00000,
- defaultGyroD = -0.000;
- private double gyroZero = 0;
+
+ public static double driveP, driveI, driveD;
+ public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
+ public static double driveStraightGyroP = 0.01;
public static final double WHEEL_DIAMETER = 6; // inches
public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
/ ENCODER_PULSES_PER_REVOLUTION;
+ public static final double MAINTAIN_CLIMBED_POSITION = 0;
+ public static final double TIME_TO_CLIMB_FOR = 0;
+ public static final double CLIMBER_SPEED = 0;
+
private static DriveTrain driveTrain;
+
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
private final RobotDrive robotDrive;
private final Encoder leftEncoder, rightEncoder;
private final DoubleSolenoid leftGearPiston, rightGearPiston;
private ADXRS450_Gyro imu;
- private BNO055 imu;
+
+ public boolean shouldBeClimbing = false;
+
+ private PIDController driveController;
private DriveTrain() {
+
+ driveController = new PIDController(driveP, driveI, driveD);
+
// MOTOR CONTROLLERS
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
- shifter = DoubleSolenoid(10, Constants.DriveTrain.SHIFTER_FORWARD,
- Constants.DriveTrain.SHIFTER_REVERSE);
- leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
- Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
- rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
- Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
- this.imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
- BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
- gyroZero = imu.getHeading();
+ // TODO: Not sure if MODULE_NUMBER should be the same for both
+ leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
+ Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
+ Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
+ rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
+ Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
+ Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
+ }
+
+ public PIDController getDriveController() {
+ return this.driveController;
}
public static DriveTrain getDriveTrain() {
}
public void printEncoderOutput() {
- // System.out.println("left: " + getLeftEncoderDistance());
- // System.out.println("right: " + getRightEncoderDistance());
- System.out.println(getAvgEncoderDistance());
System.out.println("left: " + getLeftEncoderDistance());
System.out.println("right: " + getRightEncoderDistance());
+ // System.out.println(getAvgEncoderDistance());
}
public double getAvgEncoderDistance() {
// ------Gyro------//
public double getAngle() {
- return this.imu.getAngle() - this.gyroZero;
+ return this.imu.getAngle();
}
public void resetGyro() {
this.imu.reset();
}
- public double getZeroAngle() {
- return this.gyroZero;
/*
* @return a value that is the current setpoint for the piston kReverse or
* KForward
}
/*
- * @return a value that is the current setppoint for the piston kReverse or
- * kForward
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
*/
public Value getRightGearPistonValue() {
return rightGearPiston.get();
rightGearPiston.set(gear);
}
- public double getAngle() {
- if (!this.imu.isInitialized())
- return -1;
- return this.imu.getHeading() - this.gyroZero;
- }
-
- public void resetGyro() {
- this.gyroZero = this.getAngle();
-
- }
-
- public double getZeroAngle() {
- return this.gyroZero;
- }
-
@Override
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());
}
-
}