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; | |
5483fde9 | 4 | import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive; |
06df4cd4 | 5 | import org.usfirst.frc.team3501.robot.utils.PIDController; |
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 { | |
34ffcd03 ES |
17 | |
18 | public static double driveP, driveI, driveD; | |
542234fe | 19 | public static double turnP, turnI, turnD; |
1479f285 | 20 | |
c846487e | 21 | public static double driveStraightGyroP = 0.01; |
e12d6901 | 22 | |
665abef7 MW |
23 | public static final String DRIVE_P_Val = "DriveP"; |
24 | public static final String DRIVE_I_Val = "DriveI"; | |
25 | public static final String DRIVE_D_Val = "DriveD"; | |
26 | public static final String DRIVE_TARGET_DIST = "SET_DIST"; | |
27 | public static final String DRIVE_MOTOR_VAL = "SPEED"; | |
28 | public static final String GYRO_P_Val = "GyroP"; | |
29 | public static final String GYRO_I_Val = "GyroI"; | |
30 | public static final String GYRO_D_Val = "GyroD"; | |
31 | public static final String GYRO_TARGET_ANGLE = "SET_ANGLE"; | |
32 | public static final int PID_ERROR = -1; | |
33 | public static final int TARGET_DISTANCE_ERROR = -1; | |
34 | ||
b634ebbc CZ |
35 | public static final double WHEEL_DIAMETER = 6; // inches |
36 | public static final int ENCODER_PULSES_PER_REVOLUTION = 256; | |
37 | public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI | |
38 | / ENCODER_PULSES_PER_REVOLUTION; | |
9dc69158 CZ |
39 | |
40 | public static final double MAINTAIN_CLIMBED_POSITION = 0; | |
41 | public static final double TIME_TO_CLIMB_FOR = 0; | |
42 | public static final double CLIMBER_SPEED = 0; | |
43 | ||
cc42bd52 | 44 | private static DriveTrain driveTrain; |
b8791ca4 | 45 | |
cc42bd52 ME |
46 | private final CANTalon frontLeft, frontRight, rearLeft, rearRight; |
47 | private final RobotDrive robotDrive; | |
48 | private final Encoder leftEncoder, rightEncoder; | |
73e8adbc | 49 | private final DoubleSolenoid leftGearPiston, rightGearPiston; |
cc42bd52 | 50 | |
bf921ece | 51 | private ADXRS450_Gyro imu; |
e12d6901 | 52 | |
366f1cfd | 53 | public boolean shouldBeClimbing = false; |
cef1f36d | 54 | |
06df4cd4 | 55 | private PIDController driveController; |
01ea2879 | 56 | private PIDController gyroController; |
06df4cd4 | 57 | |
ffb43c5c RR |
58 | private boolean isClimbing; |
59 | private static double CLIMBER_SPEED;; | |
60 | ||
cc42bd52 | 61 | private DriveTrain() { |
06df4cd4 | 62 | |
9ffd117a | 63 | driveController = new PIDController(driveP, driveI, driveD); |
542234fe | 64 | gyroController = new PIDController(turnP, turnI, turnD); |
06df4cd4 | 65 | |
63c60c71 MW |
66 | // PID TUNING |
67 | ||
cc42bd52 ME |
68 | // MOTOR CONTROLLERS |
69 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); | |
70 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
71 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
72 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
73 | ||
74 | // ENCODERS | |
75 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, | |
3e2738c4 | 76 | Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X); |
cc42bd52 | 77 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, |
3e2738c4 | 78 | Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X); |
cc42bd52 | 79 | |
b634ebbc CZ |
80 | leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
81 | rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); | |
cc42bd52 ME |
82 | |
83 | // ROBOT DRIVE | |
84 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); | |
8e4c083c | 85 | |
bf921ece | 86 | this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT); |
af4491f7 | 87 | |
ca372ce8 | 88 | // TODO: Not sure if MODULE_NUMBER should be the same for both |
58bcc21d | 89 | leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE, |
ca372ce8 AD |
90 | Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD, |
91 | Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE); | |
58bcc21d | 92 | rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE, |
ca372ce8 AD |
93 | Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD, |
94 | Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE); | |
ffb43c5c RR |
95 | |
96 | CLIMBER_SPEED = Constants.DriveTrain.CLIMBER_SPEED; | |
cc42bd52 ME |
97 | } |
98 | ||
06df4cd4 E |
99 | public PIDController getDriveController() { |
100 | return this.driveController; | |
101 | } | |
102 | ||
90b435ce ES |
103 | public PIDController getGyroController() { |
104 | return this.gyroController; | |
105 | } | |
106 | ||
cc42bd52 ME |
107 | public static DriveTrain getDriveTrain() { |
108 | if (driveTrain == null) { | |
109 | driveTrain = new DriveTrain(); | |
110 | } | |
111 | return driveTrain; | |
112 | } | |
113 | ||
114 | // DRIVE METHODS | |
115 | public void setMotorValues(final double left, final double right) { | |
116 | frontLeft.set(left); | |
117 | rearLeft.set(left); | |
118 | ||
b081e34b ME |
119 | frontRight.set(-right); |
120 | rearRight.set(-right); | |
731aef6d | 121 | this.isClimbing = true; |
cc42bd52 ME |
122 | } |
123 | ||
124 | public void joystickDrive(final double thrust, final double twist) { | |
b081e34b | 125 | robotDrive.arcadeDrive(thrust, twist, true); |
cc42bd52 ME |
126 | } |
127 | ||
128 | public void stop() { | |
129 | setMotorValues(0, 0); | |
731aef6d | 130 | this.isClimbing = false; |
cc42bd52 ME |
131 | } |
132 | ||
f0a71840 CZ |
133 | public double getLeftMotorVal() { |
134 | return (frontLeft.get() + rearLeft.get()) / 2; | |
cc42bd52 ME |
135 | } |
136 | ||
f0a71840 CZ |
137 | public double getRightMotorVal() { |
138 | return (frontRight.get() + rearRight.get()) / 2; | |
cc42bd52 ME |
139 | } |
140 | ||
cc42bd52 ME |
141 | // ENCODER METHODS |
142 | ||
3a5d9ac7 | 143 | public double getLeftEncoderDistance() { |
cc42bd52 ME |
144 | return leftEncoder.getDistance(); |
145 | } | |
146 | ||
3a5d9ac7 | 147 | public double getRightEncoderDistance() { |
cc42bd52 ME |
148 | return rightEncoder.getDistance(); |
149 | } | |
150 | ||
8e4c083c | 151 | public void printEncoderOutput() { |
174f415c CZ |
152 | System.out.println("left: " + getLeftEncoderDistance()); |
153 | System.out.println("right: " + getRightEncoderDistance()); | |
c846487e | 154 | // System.out.println(getAvgEncoderDistance()); |
8e4c083c CZ |
155 | } |
156 | ||
cc42bd52 ME |
157 | public double getAvgEncoderDistance() { |
158 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
159 | } | |
160 | ||
161 | public void resetEncoders() { | |
162 | leftEncoder.reset(); | |
163 | rightEncoder.reset(); | |
164 | } | |
165 | ||
166 | public double getLeftSpeed() { | |
167 | return leftEncoder.getRate(); | |
168 | } | |
169 | ||
170 | public double getRightSpeed() { | |
171 | return rightEncoder.getRate(); | |
172 | } | |
173 | ||
174 | public double getSpeed() { | |
175 | return (getLeftSpeed() + getRightSpeed()) / 2.0; | |
176 | } | |
177 | ||
e12d6901 CZ |
178 | // ------Gyro------// |
179 | public double getAngle() { | |
c846487e | 180 | return this.imu.getAngle(); |
e12d6901 CZ |
181 | } |
182 | ||
183 | public void resetGyro() { | |
571fb5c9 | 184 | this.imu.reset(); |
e12d6901 CZ |
185 | } |
186 | ||
73e8adbc AD |
187 | /* |
188 | * @return a value that is the current setpoint for the piston kReverse or | |
189 | * KForward | |
190 | */ | |
06415bd8 | 191 | public Value getLeftGearPistonValue() { |
73e8adbc AD |
192 | return leftGearPiston.get(); |
193 | } | |
194 | ||
06415bd8 AD |
195 | /* |
196 | * @return a value that is the current setpoint for the piston kReverse or | |
197 | * KForward | |
198 | */ | |
199 | public Value getRightGearPistonValue() { | |
200 | return rightGearPiston.get(); | |
201 | } | |
202 | ||
73e8adbc AD |
203 | /* |
204 | * Changes the ball shift gear assembly to high | |
205 | */ | |
206 | public void setHighGear() { | |
207 | changeGear(Constants.DriveTrain.HIGH_GEAR); | |
208 | } | |
209 | ||
210 | /* | |
211 | * Changes the ball shift gear assembly to low | |
212 | */ | |
213 | public void setLowGear() { | |
214 | changeGear(Constants.DriveTrain.LOW_GEAR); | |
215 | } | |
216 | ||
217 | /* | |
218 | * Changes the gear to a DoubleSolenoid.Value | |
219 | */ | |
220 | private void changeGear(DoubleSolenoid.Value gear) { | |
221 | leftGearPiston.set(gear); | |
222 | rightGearPiston.set(gear); | |
e12d6901 CZ |
223 | } |
224 | ||
cc42bd52 ME |
225 | @Override |
226 | protected void initDefaultCommand() { | |
227 | setDefaultCommand(new JoystickDrive()); | |
228 | } | |
ffb43c5c RR |
229 | |
230 | public boolean isClimbing() { | |
231 | return this.isClimbing; | |
232 | } | |
233 | ||
731aef6d RR |
234 | public void setClimbing(boolean isClimbing) { |
235 | this.isClimbing = isClimbing; | |
236 | } | |
237 | ||
ffb43c5c RR |
238 | public double getClimbingSpeed() { |
239 | return this.CLIMBER_SPEED; | |
240 | } | |
241 | ||
38a404b3 | 242 | } |