X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=4a6c6890d6d031683e2b37d4df4f4a19f5a7a96c;hb=6833a887c0fd5e4f988b10d25cfd1aee513e2305;hp=54b0ce01131b2dd8a376e98447b30703c5bc7317;hpb=38a404b33adc222b57179884470913cb4c0a011d;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 54b0ce01..4a6c6890 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,21 +1,86 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+
 import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.CounterBase.EncodingType;
+import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
+  // Drivetrain Related Objects
   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
+  private Encoder leftEncoder, rightEncoder;
+
+  // Drivetrain Specific Constants that relate to the Inches per Pulse value of
+  // the encoders
+  private final static double WHEEL_DIAMETER = 6.0; // in inches
+  private final static double PULSES_PER_ROTATION = 256; // in pulses
+  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;
 
   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);
+
+    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(INCHES_PER_PULSE);
+    rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
   }
 
   @Override
   protected void initDefaultCommand() {
   }
 
+  public void resetEncoders() {
+    leftEncoder.reset();
+    rightEncoder.reset();
+  }
+
+  public double getRightSpeed() {
+    return rightEncoder.getRate(); // in inches per second
+  }
+
+  public double getLeftSpeed() {
+    return leftEncoder.getRate(); // in inches per second
+  }
+
+  public double getSpeed() {
+    return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
+  }
+
+  public double getRightDistance() {
+    return rightEncoder.getDistance(); // in inches
+  }
+
+  public double getLeftDistance() {
+    return leftEncoder.getDistance(); // in inches
+  }
+
+  public double getDistance() {
+    return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
+  }
+
+  public void stop() {
+    setMotorSpeeds(0, 0);
+  }
+
+  public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
+    // Right motors receive negative values because they turn in the opposite
+    // direction
+    this.frontLeft.set(leftSpeed);
+    this.frontRight.set(-rightSpeed);
+    this.rearLeft.set(leftSpeed);
+    this.rearRight.set(-rightSpeed);
+  }
+
 }