X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=5422e973078ba2d99b0d9556732de89a0d8d4b31;hb=b70398a7d5ac5f4ce64156d84227ccb4828c0615;hp=f30d4c2d2d41c8e62fd4b01e78cd054e75e8b89a;hpb=cef1f36da71950bc32d74d2ba0477a51f478f209;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 f30d4c2..5422e97 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
 import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 
 import com.ctre.CANTalon;
@@ -13,16 +14,21 @@ 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 turnP = 0.004, turnI = 0.0013, turnD = -0.005;
+  public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
+  public static double smallTurnP = 0.004, smallTurnI = 0.0013,
+      smallTurnD = 0.005;
+  public static double largeTurnP = .003, largeTurnI = .0012, largeTurnD = .006;
   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 WHEEL_DIAMETER = 4; // inches
+  public static final double ENCODER_PULSES_PER_REVOLUTION = 256;
   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
       / ENCODER_PULSES_PER_REVOLUTION;
-  public static final int MAINTAIN_CLIMBED_POSITION = 0;
-  public static final int TIME_TO_CLIMB_FOR = 0;
+
+  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;
@@ -32,8 +38,7 @@ public class DriveTrain extends Subsystem {
 
   private ADXRS450_Gyro imu;
 
-  private boolean isClimbing;
-  private static double CLIMBER_SPEED;;
+  public boolean shouldBeClimbing = false;
 
   private DriveTrain() {
     // MOTOR CONTROLLERS
@@ -57,14 +62,12 @@ public class DriveTrain extends Subsystem {
     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,
+    leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
-    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
-
-    CLIMBER_SPEED = Constants.DriveTrain.CLIMBER_SPEED;
   }
 
   public static DriveTrain getDriveTrain() {
@@ -75,7 +78,10 @@ public class DriveTrain extends Subsystem {
   }
 
   // DRIVE METHODS
-  public void setMotorValues(final double left, final double right) {
+  public void setMotorValues(double left, double right) {
+    left = MathLib.restrictToRange(left, -1.0, 1.0);
+    right = MathLib.restrictToRange(right, -1.0, 1.0);
+
     frontLeft.set(left);
     rearLeft.set(left);
 
@@ -179,6 +185,7 @@ public class DriveTrain extends Subsystem {
    * Changes the gear to a DoubleSolenoid.Value
    */
   private void changeGear(DoubleSolenoid.Value gear) {
+    System.out.println(gear);
     leftGearPiston.set(gear);
     rightGearPiston.set(gear);
   }
@@ -187,13 +194,4 @@ public class DriveTrain extends Subsystem {
   protected void initDefaultCommand() {
     setDefaultCommand(new JoystickDrive());
   }
-
-  public boolean isClimbing() {
-    return this.isClimbing;
-  }
-
-  public double getClimbingSpeed() {
-    return this.CLIMBER_SPEED;
-  }
-
 }