Commit | Line | Data |
---|---|---|
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 CZ |
27 | |
28 | public static final double MAINTAIN_CLIMBED_POSITION = 0; | |
29 | public static final double TIME_TO_CLIMB_FOR = 0; | |
30 | public static final double CLIMBER_SPEED = 0; | |
31 | ||
f56e6ebf CZ |
32 | public static final boolean DRIVE_BRAKE_MODE = true; |
33 | public static final boolean DRIVE_COAST_MODE = false; | |
34 | ||
cc42bd52 | 35 | private static DriveTrain driveTrain; |
b8791ca4 | 36 | |
cc42bd52 ME |
37 | private final CANTalon frontLeft, frontRight, rearLeft, rearRight; |
38 | private final RobotDrive robotDrive; | |
39 | private final Encoder leftEncoder, rightEncoder; | |
fc01fb0f CZ |
40 | private final DoubleSolenoid leftDriveTrainPiston, rightDriveTrainPiston; |
41 | private final DoubleSolenoid gearManipulatorPiston; | |
cc42bd52 | 42 | |
bf921ece | 43 | private ADXRS450_Gyro imu; |
e12d6901 | 44 | |
366f1cfd | 45 | public boolean shouldBeClimbing = false; |
cef1f36d | 46 | |
cc42bd52 ME |
47 | private DriveTrain() { |
48 | // MOTOR CONTROLLERS | |
49 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); | |
50 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
51 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
52 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
53 | ||
54 | // ENCODERS | |
55 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, | |
3e2738c4 | 56 | Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X); |
cc42bd52 | 57 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, |
3e2738c4 | 58 | Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X); |
cc42bd52 | 59 | |
b634ebbc CZ |
60 | leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
61 | rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); | |
cc42bd52 ME |
62 | |
63 | // ROBOT DRIVE | |
64 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); | |
8e4c083c | 65 | |
bf921ece | 66 | this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT); |
af4491f7 | 67 | |
ca372ce8 | 68 | // TODO: Not sure if MODULE_NUMBER should be the same for both |
fc01fb0f CZ |
69 | leftDriveTrainPiston = new DoubleSolenoid( |
70 | Constants.DriveTrain.PISTON_MODULE, | |
ca372ce8 AD |
71 | Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD, |
72 | Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE); | |
fc01fb0f CZ |
73 | rightDriveTrainPiston = new DoubleSolenoid( |
74 | Constants.DriveTrain.PISTON_MODULE, | |
ca372ce8 AD |
75 | Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD, |
76 | Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE); | |
fc01fb0f CZ |
77 | |
78 | gearManipulatorPiston = new DoubleSolenoid( | |
79 | Constants.DriveTrain.PISTON_MODULE, | |
80 | Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_FORWARD, | |
81 | Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_REVERSE); | |
cc42bd52 ME |
82 | } |
83 | ||
84 | public static DriveTrain getDriveTrain() { | |
85 | if (driveTrain == null) { | |
86 | driveTrain = new DriveTrain(); | |
87 | } | |
88 | return driveTrain; | |
89 | } | |
90 | ||
91 | // DRIVE METHODS | |
ac77a7b8 | 92 | public void setMotorValues(double left, double right) { |
b70398a7 CZ |
93 | left = MathLib.restrictToRange(left, -1.0, 1.0); |
94 | right = MathLib.restrictToRange(right, -1.0, 1.0); | |
ac77a7b8 | 95 | |
cc42bd52 ME |
96 | frontLeft.set(left); |
97 | rearLeft.set(left); | |
98 | ||
b081e34b ME |
99 | frontRight.set(-right); |
100 | rearRight.set(-right); | |
cc42bd52 ME |
101 | } |
102 | ||
103 | public void joystickDrive(final double thrust, final double twist) { | |
9ca89e45 CZ |
104 | if ((thrust < 0.1 && thrust > -0.1) && (twist < 0.1 && twist > -0.1)) |
105 | robotDrive.arcadeDrive(0, 0, true); | |
106 | else | |
107 | robotDrive.arcadeDrive(thrust, twist, true); | |
cc42bd52 ME |
108 | } |
109 | ||
110 | public void stop() { | |
111 | setMotorValues(0, 0); | |
112 | } | |
113 | ||
f0a71840 CZ |
114 | public double getLeftMotorVal() { |
115 | return (frontLeft.get() + rearLeft.get()) / 2; | |
cc42bd52 ME |
116 | } |
117 | ||
f0a71840 CZ |
118 | public double getRightMotorVal() { |
119 | return (frontRight.get() + rearRight.get()) / 2; | |
cc42bd52 ME |
120 | } |
121 | ||
cc42bd52 ME |
122 | // ENCODER METHODS |
123 | ||
3a5d9ac7 | 124 | public double getLeftEncoderDistance() { |
cc42bd52 ME |
125 | return leftEncoder.getDistance(); |
126 | } | |
127 | ||
3a5d9ac7 | 128 | public double getRightEncoderDistance() { |
cc42bd52 ME |
129 | return rightEncoder.getDistance(); |
130 | } | |
131 | ||
8e4c083c | 132 | public void printEncoderOutput() { |
174f415c CZ |
133 | System.out.println("left: " + getLeftEncoderDistance()); |
134 | System.out.println("right: " + getRightEncoderDistance()); | |
c846487e | 135 | // System.out.println(getAvgEncoderDistance()); |
8e4c083c CZ |
136 | } |
137 | ||
cc42bd52 ME |
138 | public double getAvgEncoderDistance() { |
139 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
140 | } | |
141 | ||
142 | public void resetEncoders() { | |
143 | leftEncoder.reset(); | |
144 | rightEncoder.reset(); | |
145 | } | |
146 | ||
147 | public double getLeftSpeed() { | |
148 | return leftEncoder.getRate(); | |
149 | } | |
150 | ||
151 | public double getRightSpeed() { | |
152 | return rightEncoder.getRate(); | |
153 | } | |
154 | ||
155 | public double getSpeed() { | |
156 | return (getLeftSpeed() + getRightSpeed()) / 2.0; | |
157 | } | |
158 | ||
e12d6901 CZ |
159 | // ------Gyro------// |
160 | public double getAngle() { | |
c846487e | 161 | return this.imu.getAngle(); |
e12d6901 CZ |
162 | } |
163 | ||
164 | public void resetGyro() { | |
571fb5c9 | 165 | this.imu.reset(); |
e12d6901 CZ |
166 | } |
167 | ||
73e8adbc AD |
168 | /* |
169 | * @return a value that is the current setpoint for the piston kReverse or | |
170 | * KForward | |
171 | */ | |
fc01fb0f CZ |
172 | public Value getLeftDriveTrainPiston() { |
173 | return leftDriveTrainPiston.get(); | |
73e8adbc AD |
174 | } |
175 | ||
06415bd8 AD |
176 | /* |
177 | * @return a value that is the current setpoint for the piston kReverse or | |
178 | * KForward | |
179 | */ | |
fc01fb0f CZ |
180 | public Value getRightDriveTrainPiston() { |
181 | return rightDriveTrainPiston.get(); | |
06415bd8 AD |
182 | } |
183 | ||
73e8adbc AD |
184 | /* |
185 | * Changes the ball shift gear assembly to high | |
186 | */ | |
187 | public void setHighGear() { | |
fc01fb0f | 188 | changeGear(Constants.DriveTrain.FORWARD_PISTON_VALUE); |
73e8adbc AD |
189 | } |
190 | ||
191 | /* | |
192 | * Changes the ball shift gear assembly to low | |
193 | */ | |
194 | public void setLowGear() { | |
fc01fb0f | 195 | changeGear(Constants.DriveTrain.REVERSE_PISTON_VALUE); |
73e8adbc AD |
196 | } |
197 | ||
198 | /* | |
199 | * Changes the gear to a DoubleSolenoid.Value | |
200 | */ | |
201 | private void changeGear(DoubleSolenoid.Value gear) { | |
fc01fb0f CZ |
202 | leftDriveTrainPiston.set(gear); |
203 | rightDriveTrainPiston.set(gear); | |
204 | } | |
205 | ||
206 | public Value getGearManipulatorPistonValue() { | |
207 | return gearManipulatorPiston.get(); | |
208 | } | |
209 | ||
210 | public void extendGearManipulatorPiston() { | |
211 | gearManipulatorPiston.set(Constants.DriveTrain.FORWARD_PISTON_VALUE); | |
212 | } | |
213 | ||
214 | public void retractGearManipulatorPiston() { | |
215 | gearManipulatorPiston.set(Constants.DriveTrain.REVERSE_PISTON_VALUE); | |
e12d6901 CZ |
216 | } |
217 | ||
cc42bd52 ME |
218 | @Override |
219 | protected void initDefaultCommand() { | |
220 | setDefaultCommand(new JoystickDrive()); | |
221 | } | |
f56e6ebf CZ |
222 | |
223 | public void setCANTalonsBrakeMode(boolean mode) { | |
224 | frontLeft.enableBrakeMode(mode); | |
225 | rearLeft.enableBrakeMode(mode); | |
226 | ||
227 | frontRight.enableBrakeMode(mode); | |
228 | rearRight.enableBrakeMode(mode); | |
229 | } | |
38a404b3 | 230 | } |