Add branch for robot auton command group 1

[3501/2017steamworks] / 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 af22b6812d5d20125a1959d47b64365b6db490a7..c83487325eb75655a9eb6b913c036338e12fbe2b 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,38 +1,124 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 
 import com.ctre.CANTalon;
 
+import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-    private static DriveTrain driveTrain;
-    private CANTalon frontLeft, frontRight, rearLeft, rearRight;
-    private RobotDrive robotDrive;
-
-    private 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);
-
-        robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
-    }
-
-    public static DriveTrain getDriveTrain() {
-        if (driveTrain == null)
-            driveTrain = new DriveTrain();
-        return driveTrain;
-    }
-
-    public void setMotorSpeeds(double left, double right) {
-        robotDrive.tankDrive(left, right);
-    }
-
-    @Override
-    protected void initDefaultCommand() {
-    }
+       private static DriveTrain driveTrain;
+       private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
+       private final RobotDrive robotDrive;
+       private final Encoder leftEncoder, rightEncoder;
+
+       private DriveTrain() {
+               // MOTOR CONTROLLERS
+               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);
+
+               // ENCODERS
+               leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, Constants.DriveTrain.ENCODER_LEFT_B);
+               rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, Constants.DriveTrain.ENCODER_RIGHT_B);
+
+               leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+               rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+
+               // ROBOT DRIVE
+               robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
+       }
+
+       public static DriveTrain getDriveTrain() {
+               if (driveTrain == null) {
+                       driveTrain = new DriveTrain();
+               }
+               return driveTrain;
+       }
+
+       // DRIVE METHODS
+       public void setMotorValues(final double left, final double right) {
+               robotDrive.tankDrive(left, right);
+       }
+
+       public void joystickDrive(final double thrust, final double twist) {
+               robotDrive.arcadeDrive(thrust, twist);
+       }
+
+       public void stop() {
+               setMotorValues(0, 0);
+       }
+
+       public double getFrontLeftMotorVal() {
+               return frontLeft.get();
+       }
+
+       public double getFrontRightMotorVal() {
+               return frontRight.get();
+       }
+
+       public double getRearLeftMotorVal() {
+               return frontLeft.get();
+       }
+
+       public double getRearRightMotorVal() {
+               return frontLeft.get();
+       }
+
+       public CANTalon getFrontLeft() {
+               return frontLeft;
+       }
+
+       public CANTalon getFrontRight() {
+               return frontRight;
+       }
+
+       public CANTalon getRearLeft() {
+               return rearLeft;
+       }
+
+       public CANTalon getRearRight() {
+               return rearRight;
+       }
+
+       // ENCODER METHODS
+
+       public double getLeftEncoder() {
+               return leftEncoder.getDistance();
+       }
+
+       public double getRightEncoder() {
+               return rightEncoder.getDistance();
+       }
+
+       public double getAvgEncoderDistance() {
+               return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
+       }
+
+       public void resetEncoders() {
+               leftEncoder.reset();
+               rightEncoder.reset();
+       }
+
+       public double getLeftSpeed() {
+               return leftEncoder.getRate();
+       }
+
+       public double getRightSpeed() {
+               return rightEncoder.getRate();
+       }
+
+       public double getSpeed() {
+               return (getLeftSpeed() + getRightSpeed()) / 2.0;
+       }
+
+       @Override
+       protected void initDefaultCommand() {
+               setDefaultCommand(new JoystickDrive());
+       }
 
 }