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1 | package org.usfirst.frc3501.RiceCatRobot.subsystems; |
2 | ||
3 | import org.usfirst.frc3501.RiceCatRobot.RobotMap; | |
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 { | |
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11 | private CANJaguar frontLeft, frontRight, rearLeft, rearRight; |
12 | private Encoder leftEncoder, rightEncoder; | |
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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, RobotMap.DRIVE_RIGHT_B, | |
22 | false, EncodingType.k4X); | |
23 | leftEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE); | |
24 | rightEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE); | |
25 | } | |
f11ce98e | 26 | |
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27 | public void resetEncoders() { |
28 | leftEncoder.reset(); | |
29 | rightEncoder.reset(); | |
30 | } | |
f11ce98e | 31 | |
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32 | public double getRightSpeed() { |
33 | // Returns in per second | |
34 | return rightEncoder.getRate(); | |
35 | } | |
f11ce98e | 36 | |
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37 | public double getLeftSpeed() { |
38 | return leftEncoder.getRate(); | |
39 | } | |
f11ce98e | 40 | |
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41 | public double getRightDistance() { |
42 | // Returns distance in in | |
43 | return rightEncoder.getDistance(); | |
44 | } | |
f11ce98e | 45 | |
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46 | public double getLeftDistance() { |
47 | // Returns distance in in | |
48 | return leftEncoder.getDistance(); | |
49 | } | |
f11ce98e | 50 | |
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51 | public void setMotorSpeeds(double leftSpeed, double rightSpeed) { |
52 | if (Math.abs(leftSpeed) < RobotMap.DRIVE_DEAD_ZONE) { | |
53 | leftSpeed = 0; | |
f11ce98e | 54 | } |
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55 | if (Math.abs(rightSpeed) < RobotMap.DRIVE_DEAD_ZONE) { |
56 | rightSpeed = 0; | |
57 | } | |
58 | this.frontLeft.set(leftSpeed); | |
59 | this.frontRight.set(-rightSpeed); | |
60 | this.rearLeft.set(leftSpeed); | |
61 | this.rearRight.set(-rightSpeed); | |
62 | } | |
f11ce98e | 63 | |
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64 | public void arcadeDrive(double yVal, double twist) { |
65 | if (yVal < 0 && Math.abs(yVal) < 0.1125) { | |
66 | yVal = 0; | |
67 | } else if (yVal > 0 && Math.abs(yVal) < 0.25) { | |
68 | yVal = 0; | |
69 | } else if (yVal > 0) { | |
70 | yVal -= 0.25; | |
71 | } else if (yVal < 0) { | |
72 | yVal += 0.15; | |
73 | } | |
74 | if (Math.abs(twist) < RobotMap.DRIVE_DEAD_ZONE) { | |
75 | twist = 0; | |
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76 | } |
77 | ||
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78 | double leftMotorSpeed; |
79 | double rightMotorSpeed; | |
80 | // adjust the sensitivity (yVal+rootof (yval)) / 2 | |
81 | yVal = (yVal + Math.signum(yVal) * Math.sqrt(Math.abs(yVal))) / 2; | |
82 | // adjust the sensitivity (twist+rootof (twist)) / 2 | |
83 | twist = (twist + Math.signum(twist) * Math.sqrt(Math.abs(twist))) / 2; | |
84 | if (yVal > 0) { | |
85 | if (twist > 0) { | |
86 | leftMotorSpeed = yVal - twist; | |
87 | rightMotorSpeed = Math.max(yVal, twist); | |
88 | } else { | |
89 | leftMotorSpeed = Math.max(yVal, -twist); | |
90 | rightMotorSpeed = yVal + twist; | |
91 | } | |
92 | } else { | |
93 | if (twist > 0.0) { | |
94 | leftMotorSpeed = -Math.max(-yVal, twist); | |
95 | rightMotorSpeed = yVal + twist; | |
96 | } else { | |
97 | leftMotorSpeed = yVal - twist; | |
98 | rightMotorSpeed = -Math.max(-yVal, -twist); | |
99 | } | |
f11ce98e | 100 | } |
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101 | setMotorSpeeds(leftMotorSpeed, rightMotorSpeed); |
102 | } | |
103 | ||
104 | @Override | |
105 | protected void initDefaultCommand() { | |
106 | } | |
f11ce98e | 107 | } |