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=f69167241f16cd85bff6fd3d3f48788a1df90014;hpb=174f415cc59c15eb1bf0cbe305d1f3419914d116;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 f691672..3f76a86 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -2,7 +2,6 @@ package org.usfirst.frc.team3501.robot.subsystems;
 
 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 com.ctre.CANTalon;
 
@@ -10,32 +9,33 @@ 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.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 = 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;
-  private BNO055 imu;
+
+  public boolean shouldBeClimbing = false;
 
   private DriveTrain() {
     // MOTOR CONTROLLERS
@@ -57,16 +57,14 @@ public class DriveTrain extends Subsystem {
     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);
+
+    // TODO: Not sure if MODULE_NUMBER should be the same for both
     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
-        Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
+        Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
+        Constants.DriveTrain.LEFT_GEAR_PISTON_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();
+        Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
+        Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -112,11 +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() {
@@ -142,15 +138,13 @@ 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
@@ -160,8 +154,8 @@ public class DriveTrain extends Subsystem {
   }
 
   /*
-   * @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();
@@ -189,24 +183,8 @@ public class DriveTrain extends Subsystem {
     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());
   }
-
 }