X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=a6a6f8c9ce7e7c7e434e144dcd316a3e3d35e8d9;hb=fc01fb0fb74d31a0818c69d0306253deb4236c58;hp=29dc7121ead6f0b2f67cbe0e42e218e49c1a5a02;hpb=ca372ce8e1ede3b2967ae6f42c539db4eeb812fc;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 29dc712..a6a6f8c 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;
@@ -13,24 +14,36 @@ 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;
-  private double gyroZero = 0;
-
-  public static final double WHEEL_DIAMETER = 6; // inches
-  public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
+  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 = 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;
+
+  public static final boolean DRIVE_BRAKE_MODE = true;
+  public static final boolean DRIVE_COAST_MODE = false;
+
   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 final DoubleSolenoid leftDriveTrainPiston, rightDriveTrainPiston;
+  private final DoubleSolenoid gearManipulatorPiston;
 
   private ADXRS450_Gyro imu;
 
+  public boolean shouldBeClimbing = false;
+
   private DriveTrain() {
     // MOTOR CONTROLLERS
     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
@@ -53,12 +66,19 @@ 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,
+    leftDriveTrainPiston = 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,
+    rightDriveTrainPiston = new DoubleSolenoid(
+        Constants.DriveTrain.PISTON_MODULE,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
+
+    gearManipulatorPiston = new DoubleSolenoid(
+        Constants.DriveTrain.PISTON_MODULE,
+        Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_FORWARD,
+        Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_REVERSE);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -69,7 +89,10 @@ 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);
 
@@ -104,11 +127,9 @@ 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() {
@@ -134,53 +155,61 @@ 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
    */
-  public Value getLeftGearPistonValue() {
-    return leftGearPiston.get();
+  public Value getLeftDriveTrainPiston() {
+    return leftDriveTrainPiston.get();
   }
 
   /*
    * @return a value that is the current setpoint for the piston kReverse or
    * KForward
    */
-  public Value getRightGearPistonValue() {
-    return rightGearPiston.get();
+  public Value getRightDriveTrainPiston() {
+    return rightDriveTrainPiston.get();
   }
 
   /*
    * Changes the ball shift gear assembly to high
    */
   public void setHighGear() {
-    changeGear(Constants.DriveTrain.HIGH_GEAR);
+    changeGear(Constants.DriveTrain.FORWARD_PISTON_VALUE);
   }
 
   /*
    * Changes the ball shift gear assembly to low
    */
   public void setLowGear() {
-    changeGear(Constants.DriveTrain.LOW_GEAR);
+    changeGear(Constants.DriveTrain.REVERSE_PISTON_VALUE);
   }
 
   /*
    * Changes the gear to a DoubleSolenoid.Value
    */
   private void changeGear(DoubleSolenoid.Value gear) {
-    leftGearPiston.set(gear);
-    rightGearPiston.set(gear);
+    leftDriveTrainPiston.set(gear);
+    rightDriveTrainPiston.set(gear);
+  }
+
+  public Value getGearManipulatorPistonValue() {
+    return gearManipulatorPiston.get();
+  }
+
+  public void extendGearManipulatorPiston() {
+    gearManipulatorPiston.set(Constants.DriveTrain.FORWARD_PISTON_VALUE);
+  }
+
+  public void retractGearManipulatorPiston() {
+    gearManipulatorPiston.set(Constants.DriveTrain.REVERSE_PISTON_VALUE);
   }
 
   @Override
@@ -188,4 +217,11 @@ public class DriveTrain extends Subsystem {
     setDefaultCommand(new JoystickDrive());
   }
 
+  public void setCANTalonsBrakeMode(boolean mode) {
+    frontLeft.enableBrakeMode(mode);
+    rearLeft.enableBrakeMode(mode);
+
+    frontRight.enableBrakeMode(mode);
+    rearRight.enableBrakeMode(mode);
+  }
 }