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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; |
04f2cb52 | 5 | |
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6 | import com.ctre.CANTalon; |
7 | ||
fa4e4a97 | 8 | import edu.wpi.first.wpilibj.Encoder; |
ccbc35ae | 9 | import edu.wpi.first.wpilibj.RobotDrive; |
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10 | import edu.wpi.first.wpilibj.command.Subsystem; |
11 | ||
12 | public class DriveTrain extends Subsystem { | |
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13 | public static final double WHEEL_DIAMETER = 6; // inches |
14 | public static final int ENCODER_PULSES_PER_REVOLUTION = 256; | |
15 | public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI | |
16 | / ENCODER_PULSES_PER_REVOLUTION; | |
17 | ||
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18 | private static DriveTrain driveTrain; |
19 | private final CANTalon frontLeft, frontRight, rearLeft, rearRight; | |
20 | private final RobotDrive robotDrive; | |
21 | private final Encoder leftEncoder, rightEncoder; | |
22 | ||
23 | private DriveTrain() { | |
24 | // MOTOR CONTROLLERS | |
25 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); | |
26 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
27 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
28 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
29 | ||
30 | // ENCODERS | |
31 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, | |
32 | Constants.DriveTrain.ENCODER_LEFT_B); | |
33 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, | |
34 | Constants.DriveTrain.ENCODER_RIGHT_B); | |
35 | ||
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36 | leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
37 | rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); | |
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38 | |
39 | // ROBOT DRIVE | |
40 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); | |
41 | } | |
42 | ||
43 | public static DriveTrain getDriveTrain() { | |
44 | if (driveTrain == null) { | |
45 | driveTrain = new DriveTrain(); | |
46 | } | |
47 | return driveTrain; | |
48 | } | |
49 | ||
50 | // DRIVE METHODS | |
51 | public void setMotorValues(final double left, final double right) { | |
52 | frontLeft.set(left); | |
53 | rearLeft.set(left); | |
54 | ||
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55 | frontRight.set(-right); |
56 | rearRight.set(-right); | |
cc42bd52 ME |
57 | } |
58 | ||
59 | public void joystickDrive(final double thrust, final double twist) { | |
b081e34b | 60 | robotDrive.arcadeDrive(thrust, twist, true); |
cc42bd52 ME |
61 | } |
62 | ||
63 | public void stop() { | |
64 | setMotorValues(0, 0); | |
65 | } | |
66 | ||
67 | public double getFrontLeftMotorVal() { | |
68 | return frontLeft.get(); | |
69 | } | |
70 | ||
71 | public double getFrontRightMotorVal() { | |
72 | return frontRight.get(); | |
73 | } | |
74 | ||
75 | public double getRearLeftMotorVal() { | |
76 | return frontLeft.get(); | |
77 | } | |
78 | ||
79 | public double getRearRightMotorVal() { | |
80 | return frontLeft.get(); | |
81 | } | |
82 | ||
83 | public CANTalon getFrontLeft() { | |
84 | return frontLeft; | |
85 | } | |
86 | ||
87 | public CANTalon getFrontRight() { | |
88 | return frontRight; | |
89 | } | |
90 | ||
91 | public CANTalon getRearLeft() { | |
92 | return rearLeft; | |
93 | } | |
94 | ||
95 | public CANTalon getRearRight() { | |
96 | return rearRight; | |
97 | } | |
98 | ||
99 | // ENCODER METHODS | |
100 | ||
101 | public double getLeftEncoder() { | |
102 | return leftEncoder.getDistance(); | |
103 | } | |
104 | ||
105 | public double getRightEncoder() { | |
106 | return rightEncoder.getDistance(); | |
107 | } | |
108 | ||
109 | public double getAvgEncoderDistance() { | |
110 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
111 | } | |
112 | ||
113 | public void resetEncoders() { | |
114 | leftEncoder.reset(); | |
115 | rightEncoder.reset(); | |
116 | } | |
117 | ||
118 | public double getLeftSpeed() { | |
119 | return leftEncoder.getRate(); | |
120 | } | |
121 | ||
122 | public double getRightSpeed() { | |
123 | return rightEncoder.getRate(); | |
124 | } | |
125 | ||
126 | public double getSpeed() { | |
127 | return (getLeftSpeed() + getRightSpeed()) / 2.0; | |
128 | } | |
129 | ||
130 | @Override | |
131 | protected void initDefaultCommand() { | |
132 | setDefaultCommand(new JoystickDrive()); | |
133 | } | |
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134 | |
135 | } |