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1 | package org.usfirst.frc3501.RiceCatRobot.subsystems; |
2 | ||
4b8a525f | 3 | import org.usfirst.frc3501.RiceCatRobot.robot.RobotMap; |
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4 | |
5 | import edu.wpi.first.wpilibj.CANJaguar; | |
6 | import edu.wpi.first.wpilibj.Encoder; | |
7 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; | |
8 | import edu.wpi.first.wpilibj.command.Subsystem; | |
9 | ||
10 | public class DriveTrain extends Subsystem { | |
11 | private CANJaguar frontLeft, frontRight, rearLeft, rearRight; | |
12 | private Encoder leftEncoder, rightEncoder; | |
13 | ||
14 | public DriveTrain() { | |
15 | frontLeft = new CANJaguar(RobotMap.DRIVE_FRONT_LEFT); | |
16 | frontRight = new CANJaguar(RobotMap.DRIVE_FRONT_RIGHT); | |
17 | rearLeft = new CANJaguar(RobotMap.DRIVE_REAR_LEFT); | |
18 | rearRight = new CANJaguar(RobotMap.DRIVE_REAR_RIGHT); | |
19 | leftEncoder = new Encoder(RobotMap.DRIVE_LEFT_A, RobotMap.DRIVE_LEFT_B, | |
20 | false, EncodingType.k4X); | |
21 | rightEncoder = new Encoder(RobotMap.DRIVE_RIGHT_A, | |
22 | RobotMap.DRIVE_RIGHT_B, false, EncodingType.k4X); | |
23 | leftEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE); | |
24 | rightEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE); | |
25 | } | |
26 | ||
27 | public void resetEncoders() { | |
28 | leftEncoder.reset(); | |
29 | rightEncoder.reset(); | |
30 | } | |
31 | ||
32 | public double getRightSpeed() { | |
602734ab | 33 | // Returns inches per second |
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34 | return rightEncoder.getRate(); |
35 | } | |
36 | ||
37 | public double getLeftSpeed() { | |
38 | return leftEncoder.getRate(); | |
39 | } | |
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40 | |
41 | public double getAverageSpeed() { | |
42 | return (getRightSpeed() + getLeftSpeed())/2; | |
43 | } | |
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44 | |
45 | public double getRightDistance() { | |
602734ab | 46 | // Returns distance in inches |
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47 | return rightEncoder.getDistance(); |
48 | } | |
49 | ||
50 | public double getLeftDistance() { | |
602734ab | 51 | // Returns distance in inches |
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52 | return leftEncoder.getDistance(); |
53 | } | |
54 | ||
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55 | public void stop() { |
56 | setMotorSpeeds(0, 0); | |
57 | } | |
58 | ||
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59 | public void setMotorSpeeds(double leftSpeed, double rightSpeed) { |
60 | if (Math.abs(leftSpeed) < RobotMap.DRIVE_DEAD_ZONE) { | |
61 | leftSpeed = 0; | |
62 | } | |
63 | if (Math.abs(rightSpeed) < RobotMap.DRIVE_DEAD_ZONE) { | |
64 | rightSpeed = 0; | |
65 | } | |
66 | this.frontLeft.set(leftSpeed); | |
67 | this.frontRight.set(-rightSpeed); | |
68 | this.rearLeft.set(leftSpeed); | |
69 | this.rearRight.set(-rightSpeed); | |
70 | } | |
71 | ||
72 | public void arcadeDrive(double yVal, double twist) { | |
73 | if (yVal < 0 && Math.abs(yVal) < 0.1125) { | |
74 | yVal = 0; | |
75 | } else if (yVal > 0 && Math.abs(yVal) < 0.25) { | |
76 | yVal = 0; | |
77 | } else if (yVal > 0) { | |
78 | yVal -= 0.25; | |
79 | } else if (yVal < 0) { | |
80 | yVal += 0.15; | |
81 | } | |
82 | if (Math.abs(twist) < RobotMap.DRIVE_DEAD_ZONE) { | |
83 | twist = 0; | |
84 | } | |
85 | ||
86 | double leftMotorSpeed; | |
87 | double rightMotorSpeed; | |
88 | // adjust the sensitivity (yVal+rootof (yval)) / 2 | |
89 | yVal = (yVal + Math.signum(yVal) * Math.sqrt(Math.abs(yVal))) / 2; | |
90 | // adjust the sensitivity (twist+rootof (twist)) / 2 | |
91 | twist = (twist + Math.signum(twist) * Math.sqrt(Math.abs(twist))) / 2; | |
92 | if (yVal > 0) { | |
93 | if (twist > 0) { | |
94 | leftMotorSpeed = yVal - twist; | |
95 | rightMotorSpeed = Math.max(yVal, twist); | |
96 | } else { | |
97 | leftMotorSpeed = Math.max(yVal, -twist); | |
98 | rightMotorSpeed = yVal + twist; | |
99 | } | |
100 | } else { | |
101 | if (twist > 0.0) { | |
102 | leftMotorSpeed = -Math.max(-yVal, twist); | |
103 | rightMotorSpeed = yVal + twist; | |
104 | } else { | |
105 | leftMotorSpeed = yVal - twist; | |
106 | rightMotorSpeed = -Math.max(-yVal, -twist); | |
107 | } | |
108 | } | |
109 | setMotorSpeeds(leftMotorSpeed, rightMotorSpeed); | |
110 | } | |
111 | ||
112 | @Override | |
113 | protected void initDefaultCommand() { | |
114 | } | |
115 | } |