From: Your Name <you@example.com>
Date: Sat, 23 Jan 2016 19:55:24 +0000 (-0800)
Subject: add and configure talons, PID controllers, and encoders
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=c96e6803dfa2d197cdb82a687be9057a414e43b7;p=3501%2Fstronghold-2016

add and configure talons, PID controllers, and encoders
---

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 2bb3c7a6..76f4a89e 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -3,31 +3,41 @@ package org.usfirst.frc.team3501.robot.subsystems;
 import org.usfirst.frc.team3501.robot.Constants;
 
 import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.CANTalon.TalonControlMode;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PIDController;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
   // Drivetrain related objects
   private Encoder leftEncoder, rightEncoder;
   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
-
+  private PIDController frontLeftC, frontRightC, rearLeftC, rearRightC;
   // 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;
 
   public DriveTrain() {
     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
+    this.configureTalons();
+
+    frontLeftC = new PIDController(Kp, Ki, Kd, frontLeft, frontLeft);
+    frontRightC = new PIDController(Kp, Ki, Kd, frontRight, frontRight);
+    rearLeftC = new PIDController(Kp, Ki, Kd, frontLeft, rearLeft);
+    rearRightC = new PIDController(Kp, Ki, Kd, frontRight, rearRight);
+    this.enablePIDControllers();
 
     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
@@ -41,6 +51,37 @@ public class DriveTrain extends Subsystem {
   protected void initDefaultCommand() {
   }
 
+  public void configureTalons() {
+    frontLeft.changeControlMode(TalonControlMode.Speed);
+    frontRight.changeControlMode(TalonControlMode.Speed);
+    rearLeft.changeControlMode(TalonControlMode.Speed);
+    rearRight.changeControlMode(TalonControlMode.Speed);
+
+    frontLeft.configEncoderCodesPerRev(256);
+    frontRight.configEncoderCodesPerRev(256);
+    rearLeft.configEncoderCodesPerRev(256);
+    rearRight.configEncoderCodesPerRev(256);
+
+    frontLeft.enableControl();
+    frontRight.enableControl();
+    rearLeft.enableControl();
+    rearRight.enableControl();
+  }
+
+  public void enablePIDControllers() {
+    frontLeftC.enable();
+    frontRightC.enable();
+    rearLeftC.enable();
+    rearRightC.enable();
+  }
+
+  public void drive(double left, double right) {
+    frontLeftC.setSetpoint(left);
+    rearLeftC.setSetpoint(left);
+    frontRightC.setSetpoint(right);
+    rearRightC.setSetpoint(right);
+  }
+
   public void resetEncoders() {
     leftEncoder.reset();
     rightEncoder.reset();
@@ -82,5 +123,4 @@ public class DriveTrain extends Subsystem {
     this.rearLeft.set(leftSpeed);
     this.rearRight.set(-rightSpeed);
   }
-
 }