X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=f3df881225b0e65deb11323b234fa46928246f99;hb=ba9f0b126afd5973b11a22dd6640d8d6f0822f5a;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..f3df881 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;
@@ -13,28 +14,28 @@ 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 = 0.01, driveI = 0.00115, 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;
+
   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 rightDriveTrainPiston;
+  // private final Solenoid leftDriveTrainPiston;
+  private final DoubleSolenoid gearManipulatorPiston;
 
   private ADXRS450_Gyro imu;
 
-  private boolean isClimbing;
-  private static double CLIMBER_SPEED;;
-
   private DriveTrain() {
     // MOTOR CONTROLLERS
     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
@@ -57,14 +58,17 @@ 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,
-        Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
-        Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
-    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
-        Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
-        Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
+    // leftDriveTrainPiston = new Solenoid(Constants.DriveTrain.PISTON_MODULE,
+    // Constants.DriveTrain.LEFT_GEAR_PISTON_PORT);
+    rightDriveTrainPiston = new DoubleSolenoid(
+        Constants.DriveTrain.PISTON_MODULE,
+        Constants.DriveTrain.DRIVETRAIN_GEAR_FORWARD,
+        Constants.DriveTrain.DRIVETRAIN_GEAR_REVERSE);
 
-    CLIMBER_SPEED = Constants.DriveTrain.CLIMBER_SPEED;
+    gearManipulatorPiston = new DoubleSolenoid(
+        Constants.DriveTrain.PISTON_MODULE,
+        Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_FORWARD,
+        Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_REVERSE);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -75,7 +79,10 @@ 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);
 
@@ -84,7 +91,14 @@ public class DriveTrain extends Subsystem {
   }
 
   public void joystickDrive(final double thrust, final double twist) {
-    robotDrive.arcadeDrive(thrust, twist, true);
+    if ((thrust < 0.1 && thrust > -0.1) && (twist < 0.1 && twist > -0.1))
+      robotDrive.arcadeDrive(0, 0, true);
+    else
+      robotDrive.arcadeDrive(thrust, twist, true);
+  }
+
+  public void tankDrive(double left, double right) {
+    robotDrive.tankDrive(left, right);
   }
 
   public void stop() {
@@ -149,51 +163,61 @@ public class DriveTrain extends Subsystem {
    * @return a value that is the current setpoint for the piston kReverse or
    * KForward
    */
-  public Value getLeftGearPistonValue() {
-    return leftGearPiston.get();
-  }
+  // public boolean 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);
+    System.out.println("shifting to " + gear);
+    rightDriveTrainPiston.set(gear);
+    System.out.println("after: " + this.getRightDriveTrainPiston());
+
+    //
+    // if (gear == Constants.DriveTrain.FORWARD_PISTON_VALUE)
+    // leftDriveTrainPiston.set(Constants.DriveTrain.EXTEND_VALUE);
+    // else
+    // leftDriveTrainPiston.set(Constants.DriveTrain.RETRACT_VALUE);
   }
 
-  @Override
-  protected void initDefaultCommand() {
-    setDefaultCommand(new JoystickDrive());
+  public Value getGearManipulatorPistonValue() {
+    return gearManipulatorPiston.get();
   }
 
-  public boolean isClimbing() {
-    return this.isClimbing;
+  public void extendGearManipulatorPiston() {
+    gearManipulatorPiston.set(Constants.DriveTrain.FORWARD_PISTON_VALUE);
   }
 
-  public double getClimbingSpeed() {
-    return this.CLIMBER_SPEED;
+  public void retractGearManipulatorPiston() {
+    gearManipulatorPiston.set(Constants.DriveTrain.REVERSE_PISTON_VALUE);
   }
 
+  @Override
+  protected void initDefaultCommand() {
+    setDefaultCommand(new JoystickDrive());
+  }
 }