X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=a0b75c6de0bffb327ea0bc2397cf30320a714900;hb=refs%2Fheads%2Fchris%2FautonGearStrategy;hp=364340e106f2901ab65720f71d0f402df0aa950d;hpb=86d283b125c0cd5f90fb7efab8667706972fb944;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 364340e..a0b75c6 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,24 +1,42 @@
 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;
 
+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 final double WHEEL_DIAMETER = 6; // inches
-  public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
+  public static double driveP = 0.008, driveI = 0.0011, driveD = -0.002;
+  public static double turnP = 0.006, turnI = 0.0013, turnD = -0.005;
+  public static double driveStraightGyroP = 0.01;
+
+  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 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
@@ -38,6 +56,16 @@ public class DriveTrain extends Subsystem {
 
     // ROBOT DRIVE
     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.PISTON_MODULE,
+        Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
+        Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
+    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
+        Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
+        Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -48,7 +76,10 @@ 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);
 
@@ -64,20 +95,12 @@ public class DriveTrain extends Subsystem {
     setMotorValues(0, 0);
   }
 
-  public double getFrontLeftMotorVal() {
-    return frontLeft.get();
+  public double getLeftMotorVal() {
+    return (frontLeft.get() + rearLeft.get()) / 2;
   }
 
-  public double getFrontRightMotorVal() {
-    return frontRight.get();
-  }
-
-  public double getRearLeftMotorVal() {
-    return frontLeft.get();
-  }
-
-  public double getRearRightMotorVal() {
-    return frontLeft.get();
+  public double getRightMotorVal() {
+    return (frontRight.get() + rearRight.get()) / 2;
   }
 
   // ENCODER METHODS
@@ -90,6 +113,12 @@ public class DriveTrain extends Subsystem {
     return rightEncoder.getDistance();
   }
 
+  public void printEncoderOutput() {
+    System.out.println("left: " + getLeftEncoderDistance());
+    System.out.println("right: " + getRightEncoderDistance());
+    // System.out.println(getAvgEncoderDistance());
+  }
+
   public double getAvgEncoderDistance() {
     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
   }
@@ -111,9 +140,55 @@ public class DriveTrain extends Subsystem {
     return (getLeftSpeed() + getRightSpeed()) / 2.0;
   }
 
+  // ------Gyro------//
+  public double getAngle() {
+    return this.imu.getAngle();
+  }
+
+  public void resetGyro() {
+    this.imu.reset();
+  }
+
+  /*
+   * @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());
   }
-
 }