X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=f7c35a9108cdf161ac0c3597bf85ca350e63073d;hb=c846487e0cc034e05c44e3a2a11c9c72fde1bee9;hp=a5987e1fa4c914432e05c2065a9432c49e5cc9bb;hpb=b081e34b72803bc0b4ec11f0ab7676596da59fde;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 a5987e1..f7c35a9 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -5,15 +5,32 @@ 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 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 driveStraightGyroP = 0.01;
+
+  public static final double WHEEL_DIAMETER = 6; // inches
+  public static final int 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 ADXRS450_Gyro imu;
 
   private DriveTrain() {
     // MOTOR CONTROLLERS
@@ -24,15 +41,25 @@ public class DriveTrain extends Subsystem {
 
     // ENCODERS
     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
-        Constants.DriveTrain.ENCODER_LEFT_B);
+        Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
-        Constants.DriveTrain.ENCODER_RIGHT_B);
+        Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
 
-    leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
-    rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+    leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
+    rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
 
     // 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.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);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -59,48 +86,30 @@ public class DriveTrain extends Subsystem {
     setMotorValues(0, 0);
   }
 
-  public double getFrontLeftMotorVal() {
-    return frontLeft.get();
-  }
-
-  public double getFrontRightMotorVal() {
-    return frontRight.get();
-  }
-
-  public double getRearLeftMotorVal() {
-    return frontLeft.get();
-  }
-
-  public double getRearRightMotorVal() {
-    return frontLeft.get();
-  }
-
-  public CANTalon getFrontLeft() {
-    return frontLeft;
-  }
-
-  public CANTalon getFrontRight() {
-    return frontRight;
-  }
-
-  public CANTalon getRearLeft() {
-    return rearLeft;
+  public double getLeftMotorVal() {
+    return (frontLeft.get() + rearLeft.get()) / 2;
   }
 
-  public CANTalon getRearRight() {
-    return rearRight;
+  public double getRightMotorVal() {
+    return (frontRight.get() + rearRight.get()) / 2;
   }
 
   // ENCODER METHODS
 
-  public double getLeftEncoder() {
+  public double getLeftEncoderDistance() {
     return leftEncoder.getDistance();
   }
 
-  public double getRightEncoder() {
+  public double getRightEncoderDistance() {
     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;
   }
@@ -122,6 +131,53 @@ 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());