X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=3f76a860f6907505d1431d64db159c0944de708d;hb=c726d04ade36dead56cd4b2f1b91a341ce90bdb6;hp=1ba8c8c41847bbf86319ab576e4373476a6844e8;hpb=571fb5c99d2323fed344b332f687597cd53d4d31;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 1ba8c8c..3f76a86 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -6,28 +6,37 @@ import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 import com.ctre.CANTalon;
 
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.Encoder;
 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;
-  private double gyroZero = 0;
+  public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
+  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;
 
+  public boolean shouldBeClimbing = false;
+
   private DriveTrain() {
     // MOTOR CONTROLLERS
     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
@@ -48,6 +57,14 @@ public class DriveTrain extends Subsystem {
     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
 
     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
+
+    // TODO: Not sure if MODULE_NUMBER should be the same for both
+    leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+        Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
+        Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
+    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+        Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
+        Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -93,9 +110,9 @@ public class DriveTrain extends Subsystem {
   }
 
   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() {
@@ -121,20 +138,53 @@ public class DriveTrain extends Subsystem {
 
   // ------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
+   */
+  public Value getLeftGearPistonValue() {
+    return leftGearPiston.get();
+  }
+
+  /*
+   * @return a value that is the current setpoint for the piston kReverse or
+   * KForward
+   */
+  public Value getRightGearPistonValue() {
+    return rightGearPiston.get();
+  }
+
+  /*
+   * Changes the ball shift gear assembly to high
+   */
+  public void setHighGear() {
+    changeGear(Constants.DriveTrain.HIGH_GEAR);
+  }
+
+  /*
+   * Changes the ball shift gear assembly to low
+   */
+  public void setLowGear() {
+    changeGear(Constants.DriveTrain.LOW_GEAR);
+  }
+
+  /*
+   * Changes the gear to a DoubleSolenoid.Value
+   */
+  private void changeGear(DoubleSolenoid.Value gear) {
+    leftGearPiston.set(gear);
+    rightGearPiston.set(gear);
   }
 
   @Override
   protected void initDefaultCommand() {
     setDefaultCommand(new JoystickDrive());
   }
-
 }