Commit | Line | Data |
---|---|---|
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; |
04f2cb52 | 5 | |
a1c76caf CZ |
6 | import com.ctre.CANTalon; |
7 | ||
bf921ece | 8 | import edu.wpi.first.wpilibj.ADXRS450_Gyro; |
fa4e4a97 | 9 | import edu.wpi.first.wpilibj.Encoder; |
ccbc35ae | 10 | import edu.wpi.first.wpilibj.RobotDrive; |
38a404b3 KZ |
11 | import edu.wpi.first.wpilibj.command.Subsystem; |
12 | ||
13 | public class DriveTrain extends Subsystem { | |
e12d6901 | 14 | public static double driveP = 0.008, driveI = 0.001, driveD = -0.002; |
f0a71840 | 15 | public static double defaultGyroP = 0.006, defaultGyroI = 0.00000, |
e12d6901 CZ |
16 | defaultGyroD = -0.000; |
17 | private double gyroZero = 0; | |
18 | ||
b634ebbc CZ |
19 | public static final double WHEEL_DIAMETER = 6; // inches |
20 | public static final int ENCODER_PULSES_PER_REVOLUTION = 256; | |
21 | public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI | |
22 | / ENCODER_PULSES_PER_REVOLUTION; | |
23 | ||
cc42bd52 ME |
24 | private static DriveTrain driveTrain; |
25 | private final CANTalon frontLeft, frontRight, rearLeft, rearRight; | |
26 | private final RobotDrive robotDrive; | |
27 | private final Encoder leftEncoder, rightEncoder; | |
28 | ||
bf921ece | 29 | private ADXRS450_Gyro imu; |
e12d6901 | 30 | |
cc42bd52 ME |
31 | private DriveTrain() { |
32 | // MOTOR CONTROLLERS | |
33 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); | |
34 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
35 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
36 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
37 | ||
38 | // ENCODERS | |
39 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, | |
3e2738c4 | 40 | Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X); |
cc42bd52 | 41 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, |
3e2738c4 | 42 | Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X); |
cc42bd52 | 43 | |
b634ebbc CZ |
44 | leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
45 | rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); | |
cc42bd52 ME |
46 | |
47 | // ROBOT DRIVE | |
48 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); | |
8e4c083c | 49 | |
bf921ece | 50 | this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT); |
cc42bd52 ME |
51 | } |
52 | ||
53 | public static DriveTrain getDriveTrain() { | |
54 | if (driveTrain == null) { | |
55 | driveTrain = new DriveTrain(); | |
56 | } | |
57 | return driveTrain; | |
58 | } | |
59 | ||
60 | // DRIVE METHODS | |
61 | public void setMotorValues(final double left, final double right) { | |
62 | frontLeft.set(left); | |
63 | rearLeft.set(left); | |
64 | ||
b081e34b ME |
65 | frontRight.set(-right); |
66 | rearRight.set(-right); | |
cc42bd52 ME |
67 | } |
68 | ||
69 | public void joystickDrive(final double thrust, final double twist) { | |
b081e34b | 70 | robotDrive.arcadeDrive(thrust, twist, true); |
cc42bd52 ME |
71 | } |
72 | ||
73 | public void stop() { | |
74 | setMotorValues(0, 0); | |
75 | } | |
76 | ||
f0a71840 CZ |
77 | public double getLeftMotorVal() { |
78 | return (frontLeft.get() + rearLeft.get()) / 2; | |
cc42bd52 ME |
79 | } |
80 | ||
f0a71840 CZ |
81 | public double getRightMotorVal() { |
82 | return (frontRight.get() + rearRight.get()) / 2; | |
cc42bd52 ME |
83 | } |
84 | ||
cc42bd52 ME |
85 | // ENCODER METHODS |
86 | ||
3a5d9ac7 | 87 | public double getLeftEncoderDistance() { |
cc42bd52 ME |
88 | return leftEncoder.getDistance(); |
89 | } | |
90 | ||
3a5d9ac7 | 91 | public double getRightEncoderDistance() { |
cc42bd52 ME |
92 | return rightEncoder.getDistance(); |
93 | } | |
94 | ||
8e4c083c | 95 | public void printEncoderOutput() { |
f0a71840 CZ |
96 | // System.out.println("left: " + getLeftEncoderDistance()); |
97 | // System.out.println("right: " + getRightEncoderDistance()); | |
98 | System.out.println(getAvgEncoderDistance()); | |
8e4c083c CZ |
99 | } |
100 | ||
cc42bd52 ME |
101 | public double getAvgEncoderDistance() { |
102 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
103 | } | |
104 | ||
105 | public void resetEncoders() { | |
106 | leftEncoder.reset(); | |
107 | rightEncoder.reset(); | |
108 | } | |
109 | ||
110 | public double getLeftSpeed() { | |
111 | return leftEncoder.getRate(); | |
112 | } | |
113 | ||
114 | public double getRightSpeed() { | |
115 | return rightEncoder.getRate(); | |
116 | } | |
117 | ||
118 | public double getSpeed() { | |
119 | return (getLeftSpeed() + getRightSpeed()) / 2.0; | |
120 | } | |
121 | ||
e12d6901 CZ |
122 | // ------Gyro------// |
123 | public double getAngle() { | |
bf921ece | 124 | return this.imu.getAngle() - this.gyroZero; |
e12d6901 CZ |
125 | } |
126 | ||
127 | public void resetGyro() { | |
128 | this.gyroZero = this.getAngle(); | |
e12d6901 CZ |
129 | } |
130 | ||
131 | public double getZeroAngle() { | |
132 | return this.gyroZero; | |
133 | } | |
134 | ||
cc42bd52 ME |
135 | @Override |
136 | protected void initDefaultCommand() { | |
137 | setDefaultCommand(new JoystickDrive()); | |
138 | } | |
38a404b3 KZ |
139 | |
140 | } |