X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=96f1d1150fd5d87a2d5e5531f8515fcf10302e4f;hb=7e360ef5fdf5bb9ae932367bbeb5a930f54ee732;hp=2b11491abf728705e52b4f63381ee5fc509acbf0;hpb=7670b3f40e062d762b0d329f4ec36472f496ccbd;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 2b11491a..96f1d115 100644 --- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java @@ -16,46 +16,26 @@ import edu.wpi.first.wpilibj.RobotDrive; import edu.wpi.first.wpilibj.command.PIDSubsystem; public class DriveTrain extends PIDSubsystem { - private static double kp = 0.013, ki = 0.000015, kd = -0.002; - private static double gp = 0.018, gi = 0.000015, gd = 0; - private static double pidOutput = 0; - - // PID Controller tolerances for the error - private static double encoderTolerance = 8.0, gyroTolerance = 5.0; - // Current Drive Mode Default Drive Mode is Manual private int DRIVE_MODE = 1; - - // Different Drive Modes - private static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3; + private static double pidOutput = 0; private Encoder leftEncoder, rightEncoder; - public static Lidar leftLidar; - public static Lidar rightLidar; + public static Lidar lidar; private CANTalon frontLeft, frontRight, rearLeft, rearRight; private RobotDrive robotDrive; private GyroLib gyro; private DoubleSolenoid leftGearPiston, rightGearPiston; + // Drivetrain specific constants that relate to the inches per pulse value for // 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; - - // Drivetrain specific constants that relate to the PID controllers - private final static double Kp = 1.0, Ki = 0.0, - Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) - / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER; public DriveTrain() { - super(kp, ki, kd); + super(Constants.DriveTrain.kp, Constants.DriveTrain.ki, + Constants.DriveTrain.kd); frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); @@ -64,9 +44,8 @@ public class DriveTrain extends PIDSubsystem { robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); - leftLidar = new Lidar(I2C.Port.kOnboard); - rightLidar = new Lidar(I2C.Port.kOnboard); // TODO: find port for second - // lidar + lidar = new Lidar(I2C.Port.kOnboard); + leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X); rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, @@ -125,12 +104,8 @@ public class DriveTrain extends PIDSubsystem { rightEncoder.reset(); } - public double getLeftLidarDistance() { - return leftLidar.pidGet(); - } - - public double getsRightLidarDistance() { - return rightLidar.pidGet(); + public double getLidarDistance() { + return lidar.pidGet(); } public double getRightSpeed() { @@ -192,9 +167,11 @@ public class DriveTrain extends PIDSubsystem { // Updates the PID constants based on which control mode is being used public void updatePID() { if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) - this.getPIDController().setPID(kp, ki, kd); + this.getPIDController().setPID(Constants.DriveTrain.kp, + Constants.DriveTrain.ki, Constants.DriveTrain.kd); else - this.getPIDController().setPID(gp, gd, gi); + this.getPIDController().setPID(Constants.DriveTrain.gp, + Constants.DriveTrain.gd, Constants.DriveTrain.gi); } public CANTalon getFrontLeft() { @@ -235,7 +212,7 @@ public class DriveTrain extends PIDSubsystem { if (Math.abs(output) > 0 && Math.abs(output) < 0.3) output = Math.signum(output) * 0.3; left = output; - right = output + drift * kp / 10; + right = output + drift * Constants.DriveTrain.kp / 10; } else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) { left = output; right = -output; @@ -252,9 +229,8 @@ public class DriveTrain extends PIDSubsystem { /* * Checks the drive mode * - * @return the current state of the robot in each state - * Average distance from both sides of tank drive for Encoder Mode - * Angle from the gyro in GYRO_MODE + * @return the current state of the robot in each state Average distance from + * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE */ private double sensorFeedback() { if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) @@ -269,16 +245,14 @@ public class DriveTrain extends PIDSubsystem { /* * @param left and right setpoints to set to the left and right side of tank * inverted is for Logan, wants the robot to invert all controls left = right - * and right = left - * negative input is required for the regular rotation because RobotDrive - * tankdrive method drives inverted + * and right = left negative input is required for the regular rotation + * because RobotDrive tankdrive method drives inverted */ public void drive(double left, double right) { robotDrive.tankDrive(-left, -right); // dunno why but inverted drive (- values is forward) if (!Constants.DriveTrain.inverted) - robotDrive.tankDrive(-left, - -right); + robotDrive.tankDrive(-left, -right); else robotDrive.tankDrive(right, left); } @@ -286,9 +260,9 @@ public class DriveTrain extends PIDSubsystem { /* * constrains the distance to within -100 and 100 since we aren't going to * drive more than 100 inches - * + * * Configure Encoder PID - * + * * Sets the setpoint to the PID subsystem */ public void driveDistance(double dist, double maxTimeOut) { @@ -298,30 +272,29 @@ public class DriveTrain extends PIDSubsystem { } /* - * Sets the encoder mode - * Updates the PID constants sets the tolerance and sets output/input ranges - * Enables the PID controllers + * Sets the encoder mode Updates the PID constants sets the tolerance and sets + * output/input ranges Enables the PID controllers */ public void setEncoderPID() { DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE; this.updatePID(); - this.setAbsoluteTolerance(encoderTolerance); + this.setAbsoluteTolerance(Constants.DriveTrain.encoderTolerance); this.setOutputRange(-1.0, 1.0); this.setInputRange(-200.0, 200.0); this.enable(); } /* - * Sets the Gyro Mode - * Updates the PID constants, sets the tolerance and sets output/input ranges - * Enables the PID controllers + * Sets the Gyro Mode Updates the PID constants, sets the tolerance and sets + * output/input ranges Enables the PID controllers */ private void setGyroPID() { DRIVE_MODE = Constants.DriveTrain.GYRO_MODE; this.updatePID(); - this.getPIDController().setPID(gp, gi, gd); + this.getPIDController().setPID(Constants.DriveTrain.gp, + Constants.DriveTrain.gi, Constants.DriveTrain.gd); - this.setAbsoluteTolerance(gyroTolerance); + this.setAbsoluteTolerance(Constants.DriveTrain.gyroTolerance); this.setOutputRange(-1.0, 1.0); this.setInputRange(-360.0, 360.0); this.enable(); @@ -351,16 +324,16 @@ public class DriveTrain extends PIDSubsystem { } /* - * @return a value that is the current setpoint for the piston - * kReverse or kForward + * @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 + * @return a value that is the current setpoint for the piston kReverse or + * kForward */ public Value getRightGearPistonValue() { return rightGearPiston.get();