Commit | Line | Data |
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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
ac77a7b8 | 4 | import org.usfirst.frc.team3501.robot.MathLib; |
5483fde9 | 5 | import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive; |
04f2cb52 | 6 | |
a1c76caf CZ |
7 | import com.ctre.CANTalon; |
8 | ||
bf921ece | 9 | import edu.wpi.first.wpilibj.ADXRS450_Gyro; |
4a75c629 | 10 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
73e8adbc | 11 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; |
fa4e4a97 | 12 | import edu.wpi.first.wpilibj.Encoder; |
ccbc35ae | 13 | import edu.wpi.first.wpilibj.RobotDrive; |
38a404b3 KZ |
14 | import edu.wpi.first.wpilibj.command.Subsystem; |
15 | ||
16 | public class DriveTrain extends Subsystem { | |
9ca89e45 | 17 | public static double driveP = 0.01, driveI = 0.00115, driveD = -0.002; |
b70398a7 CZ |
18 | public static double smallTurnP = 0.004, smallTurnI = 0.0013, |
19 | smallTurnD = 0.005; | |
20 | public static double largeTurnP = .003, largeTurnI = .0012, largeTurnD = .006; | |
c846487e | 21 | public static double driveStraightGyroP = 0.01; |
e12d6901 | 22 | |
ac77a7b8 CZ |
23 | public static final double WHEEL_DIAMETER = 4; // inches |
24 | public static final double ENCODER_PULSES_PER_REVOLUTION = 256; | |
b634ebbc CZ |
25 | public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI |
26 | / ENCODER_PULSES_PER_REVOLUTION; | |
9dc69158 | 27 | |
cc42bd52 | 28 | private static DriveTrain driveTrain; |
b8791ca4 | 29 | |
cc42bd52 ME |
30 | private final CANTalon frontLeft, frontRight, rearLeft, rearRight; |
31 | private final RobotDrive robotDrive; | |
32 | private final Encoder leftEncoder, rightEncoder; | |
150f450f CZ |
33 | private final DoubleSolenoid rightDriveTrainPiston; |
34 | // private final Solenoid leftDriveTrainPiston; | |
fc01fb0f | 35 | private final DoubleSolenoid gearManipulatorPiston; |
cc42bd52 | 36 | |
bf921ece | 37 | private ADXRS450_Gyro imu; |
e12d6901 | 38 | |
cc42bd52 ME |
39 | private DriveTrain() { |
40 | // MOTOR CONTROLLERS | |
41 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); | |
42 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
43 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
44 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
45 | ||
46 | // ENCODERS | |
47 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, | |
3e2738c4 | 48 | Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X); |
cc42bd52 | 49 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, |
3e2738c4 | 50 | Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X); |
cc42bd52 | 51 | |
b634ebbc CZ |
52 | leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
53 | rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); | |
cc42bd52 ME |
54 | |
55 | // ROBOT DRIVE | |
56 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); | |
8e4c083c | 57 | |
bf921ece | 58 | this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT); |
af4491f7 | 59 | |
ca372ce8 | 60 | // TODO: Not sure if MODULE_NUMBER should be the same for both |
150f450f CZ |
61 | // leftDriveTrainPiston = new Solenoid(Constants.DriveTrain.PISTON_MODULE, |
62 | // Constants.DriveTrain.LEFT_GEAR_PISTON_PORT); | |
fc01fb0f CZ |
63 | rightDriveTrainPiston = new DoubleSolenoid( |
64 | Constants.DriveTrain.PISTON_MODULE, | |
150f450f CZ |
65 | Constants.DriveTrain.DRIVETRAIN_GEAR_FORWARD, |
66 | Constants.DriveTrain.DRIVETRAIN_GEAR_REVERSE); | |
fc01fb0f CZ |
67 | |
68 | gearManipulatorPiston = new DoubleSolenoid( | |
69 | Constants.DriveTrain.PISTON_MODULE, | |
70 | Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_FORWARD, | |
71 | Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_REVERSE); | |
cc42bd52 ME |
72 | } |
73 | ||
74 | public static DriveTrain getDriveTrain() { | |
75 | if (driveTrain == null) { | |
76 | driveTrain = new DriveTrain(); | |
77 | } | |
78 | return driveTrain; | |
79 | } | |
80 | ||
81 | // DRIVE METHODS | |
ac77a7b8 | 82 | public void setMotorValues(double left, double right) { |
b70398a7 CZ |
83 | left = MathLib.restrictToRange(left, -1.0, 1.0); |
84 | right = MathLib.restrictToRange(right, -1.0, 1.0); | |
ac77a7b8 | 85 | |
cc42bd52 ME |
86 | frontLeft.set(left); |
87 | rearLeft.set(left); | |
88 | ||
b081e34b ME |
89 | frontRight.set(-right); |
90 | rearRight.set(-right); | |
cc42bd52 ME |
91 | } |
92 | ||
93 | public void joystickDrive(final double thrust, final double twist) { | |
9ca89e45 CZ |
94 | if ((thrust < 0.1 && thrust > -0.1) && (twist < 0.1 && twist > -0.1)) |
95 | robotDrive.arcadeDrive(0, 0, true); | |
96 | else | |
97 | robotDrive.arcadeDrive(thrust, twist, true); | |
cc42bd52 ME |
98 | } |
99 | ||
100 | public void stop() { | |
101 | setMotorValues(0, 0); | |
102 | } | |
103 | ||
f0a71840 CZ |
104 | public double getLeftMotorVal() { |
105 | return (frontLeft.get() + rearLeft.get()) / 2; | |
cc42bd52 ME |
106 | } |
107 | ||
f0a71840 CZ |
108 | public double getRightMotorVal() { |
109 | return (frontRight.get() + rearRight.get()) / 2; | |
cc42bd52 ME |
110 | } |
111 | ||
cc42bd52 ME |
112 | // ENCODER METHODS |
113 | ||
3a5d9ac7 | 114 | public double getLeftEncoderDistance() { |
cc42bd52 ME |
115 | return leftEncoder.getDistance(); |
116 | } | |
117 | ||
3a5d9ac7 | 118 | public double getRightEncoderDistance() { |
cc42bd52 ME |
119 | return rightEncoder.getDistance(); |
120 | } | |
121 | ||
8e4c083c | 122 | public void printEncoderOutput() { |
174f415c CZ |
123 | System.out.println("left: " + getLeftEncoderDistance()); |
124 | System.out.println("right: " + getRightEncoderDistance()); | |
c846487e | 125 | // System.out.println(getAvgEncoderDistance()); |
8e4c083c CZ |
126 | } |
127 | ||
cc42bd52 ME |
128 | public double getAvgEncoderDistance() { |
129 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
130 | } | |
131 | ||
132 | public void resetEncoders() { | |
133 | leftEncoder.reset(); | |
134 | rightEncoder.reset(); | |
135 | } | |
136 | ||
137 | public double getLeftSpeed() { | |
138 | return leftEncoder.getRate(); | |
139 | } | |
140 | ||
141 | public double getRightSpeed() { | |
142 | return rightEncoder.getRate(); | |
143 | } | |
144 | ||
145 | public double getSpeed() { | |
146 | return (getLeftSpeed() + getRightSpeed()) / 2.0; | |
147 | } | |
148 | ||
e12d6901 CZ |
149 | // ------Gyro------// |
150 | public double getAngle() { | |
c846487e | 151 | return this.imu.getAngle(); |
e12d6901 CZ |
152 | } |
153 | ||
154 | public void resetGyro() { | |
571fb5c9 | 155 | this.imu.reset(); |
e12d6901 CZ |
156 | } |
157 | ||
73e8adbc AD |
158 | /* |
159 | * @return a value that is the current setpoint for the piston kReverse or | |
160 | * KForward | |
161 | */ | |
150f450f CZ |
162 | // public boolean getLeftDriveTrainPiston() { |
163 | // return leftDriveTrainPiston.get(); | |
164 | // } | |
73e8adbc | 165 | |
06415bd8 AD |
166 | /* |
167 | * @return a value that is the current setpoint for the piston kReverse or | |
168 | * KForward | |
169 | */ | |
fc01fb0f CZ |
170 | public Value getRightDriveTrainPiston() { |
171 | return rightDriveTrainPiston.get(); | |
06415bd8 AD |
172 | } |
173 | ||
73e8adbc AD |
174 | /* |
175 | * Changes the ball shift gear assembly to high | |
176 | */ | |
177 | public void setHighGear() { | |
fc01fb0f | 178 | changeGear(Constants.DriveTrain.FORWARD_PISTON_VALUE); |
73e8adbc AD |
179 | } |
180 | ||
181 | /* | |
182 | * Changes the ball shift gear assembly to low | |
183 | */ | |
184 | public void setLowGear() { | |
fc01fb0f | 185 | changeGear(Constants.DriveTrain.REVERSE_PISTON_VALUE); |
73e8adbc AD |
186 | } |
187 | ||
188 | /* | |
189 | * Changes the gear to a DoubleSolenoid.Value | |
190 | */ | |
191 | private void changeGear(DoubleSolenoid.Value gear) { | |
150f450f | 192 | System.out.println("shifting to " + gear); |
fc01fb0f | 193 | rightDriveTrainPiston.set(gear); |
150f450f CZ |
194 | System.out.println("after: " + this.getRightDriveTrainPiston()); |
195 | ||
196 | // | |
197 | // if (gear == Constants.DriveTrain.FORWARD_PISTON_VALUE) | |
198 | // leftDriveTrainPiston.set(Constants.DriveTrain.EXTEND_VALUE); | |
199 | // else | |
200 | // leftDriveTrainPiston.set(Constants.DriveTrain.RETRACT_VALUE); | |
fc01fb0f CZ |
201 | } |
202 | ||
203 | public Value getGearManipulatorPistonValue() { | |
204 | return gearManipulatorPiston.get(); | |
205 | } | |
206 | ||
207 | public void extendGearManipulatorPiston() { | |
208 | gearManipulatorPiston.set(Constants.DriveTrain.FORWARD_PISTON_VALUE); | |
209 | } | |
210 | ||
211 | public void retractGearManipulatorPiston() { | |
212 | gearManipulatorPiston.set(Constants.DriveTrain.REVERSE_PISTON_VALUE); | |
e12d6901 CZ |
213 | } |
214 | ||
cc42bd52 ME |
215 | @Override |
216 | protected void initDefaultCommand() { | |
217 | setDefaultCommand(new JoystickDrive()); | |
218 | } | |
38a404b3 | 219 | } |