Remake gyro methods to print out rawValue of the gyro Rotation of Z axis

[3501/stronghold-2016] / 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 76f4a89ef25540f0461f2c3f4818edf4c534ca7b..c42cf1704e6094681592551bff2ff23e2dc17dbd 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,17 +1,21 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.FirebotGyro;
+import org.usfirst.frc.team3501.robot.Lidar;
 
+import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.CANTalon;
-import edu.wpi.first.wpilibj.CANTalon.TalonControlMode;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.PIDController;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
   // Drivetrain related objects
   private Encoder leftEncoder, rightEncoder;
+  public static Lidar lidar;
   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
   private PIDController frontLeftC, frontRightC, rearLeftC, rearRightC;
   // Drivetrain specific constants that relate to the inches per pulse value for
@@ -21,72 +25,53 @@ public class DriveTrain extends Subsystem {
   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;
+      * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+      / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+
   // Drivetrain specific constants that relate to the PID controllers
-  private final static double Kp = 1.0, Ki = 0.0, Kd = 0.0;
+  private final static double Kp = 1.0, Ki = 0.0,
+      Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+          / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+
+  public AnalogInput channel;
+
+  // Gyro stuff
+  double rawValue;
+  public FirebotGyro gyro;
 
   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);
-    this.configureTalons();
-
-    frontLeftC = new PIDController(Kp, Ki, Kd, frontLeft, frontLeft);
-    frontRightC = new PIDController(Kp, Ki, Kd, frontRight, frontRight);
-    rearLeftC = new PIDController(Kp, Ki, Kd, frontLeft, rearLeft);
-    rearRightC = new PIDController(Kp, Ki, Kd, frontRight, rearRight);
-    this.enablePIDControllers();
 
+    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(Constants.DriveTrain.INCHES_PER_PULSE);
+    rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
+
+    gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+    gyro.initialize();
   }
 
   @Override
   protected void initDefaultCommand() {
   }
 
-  public void configureTalons() {
-    frontLeft.changeControlMode(TalonControlMode.Speed);
-    frontRight.changeControlMode(TalonControlMode.Speed);
-    rearLeft.changeControlMode(TalonControlMode.Speed);
-    rearRight.changeControlMode(TalonControlMode.Speed);
-
-    frontLeft.configEncoderCodesPerRev(256);
-    frontRight.configEncoderCodesPerRev(256);
-    rearLeft.configEncoderCodesPerRev(256);
-    rearRight.configEncoderCodesPerRev(256);
-
-    frontLeft.enableControl();
-    frontRight.enableControl();
-    rearLeft.enableControl();
-    rearRight.enableControl();
-  }
-
-  public void enablePIDControllers() {
-    frontLeftC.enable();
-    frontRightC.enable();
-    rearLeftC.enable();
-    rearRightC.enable();
-  }
-
-  public void drive(double left, double right) {
-    frontLeftC.setSetpoint(left);
-    rearLeftC.setSetpoint(left);
-    frontRightC.setSetpoint(right);
-    rearRightC.setSetpoint(right);
-  }
-
   public void resetEncoders() {
     leftEncoder.reset();
     rightEncoder.reset();
   }
 
+  public double getLidarDistance() {
+    return lidar.pidGet();
+  }
+
   public double getRightSpeed() {
     return rightEncoder.getRate(); // in inches per second
   }