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1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
04f2cb52 | 4 | |
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5 | import com.ctre.CANTalon; |
6 | ||
fa4e4a97 | 7 | import edu.wpi.first.wpilibj.Encoder; |
ccbc35ae | 8 | import edu.wpi.first.wpilibj.RobotDrive; |
38a404b3 KZ |
9 | import edu.wpi.first.wpilibj.command.Subsystem; |
10 | ||
11 | public class DriveTrain extends Subsystem { | |
d17d868d | 12 | private static DriveTrain driveTrain; |
13 | private final CANTalon frontLeft, frontRight, rearLeft, rearRight; | |
14 | private final RobotDrive robotDrive; | |
15 | private final Encoder leftEncoder, rightEncoder; | |
16 | ||
17 | private DriveTrain() { | |
18 | // MOTOR CONTROLLERS | |
19 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); | |
20 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
21 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
22 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
23 | ||
24 | // ENCODERS | |
25 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, | |
26 | Constants.DriveTrain.ENCODER_LEFT_B); | |
27 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, | |
28 | Constants.DriveTrain.ENCODER_RIGHT_B); | |
29 | ||
30 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
31 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
32 | ||
33 | // ROBOT DRIVE | |
34 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); | |
35 | } | |
36 | ||
37 | public static DriveTrain getDriveTrain() { | |
38 | if (driveTrain == null) { | |
39 | driveTrain = new DriveTrain(); | |
40 | } | |
41 | return driveTrain; | |
42 | } | |
43 | ||
44 | // DRIVE METHODS | |
45 | public void setMotorValues(final double left, final double right) { | |
46 | robotDrive.tankDrive(left, right); | |
47 | } | |
48 | ||
49 | public void joystickDrive(final double left, final double right) { | |
50 | robotDrive.tankDrive(left, right); | |
51 | } | |
52 | ||
53 | public void stop() { | |
54 | setMotorValues(0, 0); | |
55 | } | |
56 | ||
57 | public double getFrontLeftMotorVal() { | |
58 | return frontLeft.get(); | |
59 | } | |
60 | ||
61 | public double getFrontRightMotorVal() { | |
62 | return frontRight.get(); | |
63 | } | |
64 | ||
65 | public double getRearLeftMotorVal() { | |
66 | return frontLeft.get(); | |
67 | } | |
68 | ||
69 | public double getRearRightMotorVal() { | |
70 | return frontLeft.get(); | |
71 | } | |
72 | ||
73 | public CANTalon getFrontLeft() { | |
74 | return frontLeft; | |
75 | } | |
76 | ||
77 | public CANTalon getFrontRight() { | |
78 | return frontRight; | |
79 | } | |
80 | ||
81 | public CANTalon getRearLeft() { | |
82 | return rearLeft; | |
83 | } | |
84 | ||
85 | public CANTalon getRearRight() { | |
86 | return rearRight; | |
87 | } | |
88 | ||
89 | // ENCODER METHODS | |
90 | ||
91 | public double getLeftEncoder() { | |
92 | return leftEncoder.getDistance(); | |
93 | } | |
94 | ||
95 | public double getRightEncoder() { | |
96 | return rightEncoder.getDistance(); | |
97 | } | |
98 | ||
99 | public double getAvgEncoderDistance() { | |
100 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
101 | } | |
102 | ||
103 | public void resetEncoders() { | |
104 | leftEncoder.reset(); | |
105 | rightEncoder.reset(); | |
106 | } | |
107 | ||
108 | public double getLeftSpeed() { | |
109 | return leftEncoder.getRate(); | |
110 | } | |
111 | ||
112 | public double getRightSpeed() { | |
113 | return rightEncoder.getRate(); | |
114 | } | |
115 | ||
116 | public double getSpeed() { | |
117 | return (getLeftSpeed() + getRightSpeed()) / 2.0; | |
118 | } | |
119 | ||
120 | @Override | |
121 | protected void initDefaultCommand() { | |
122 | } | |
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123 | |
124 | } |