finish implement driveDistance and TurnForAngle using PID algorithm

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / subsystems / DriveTrain.java

package org.usfirst.frc.team3501.robot.subsystems;

import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
import org.usfirst.frc.team3501.robot.utils.BNO055;

import com.ctre.CANTalon;

import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.I2C.Port;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.command.Subsystem;

public class DriveTrain extends Subsystem {
  public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
  public static double defaultGyroP = 0.006, defaultGyroI = 0.00000,
      defaultGyroD = -0.000;
  private double gyroZero = 0;

  public static final double WHEEL_DIAMETER = 6; // inches
  public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
      / ENCODER_PULSES_PER_REVOLUTION;

  private static DriveTrain driveTrain;
  private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  private final RobotDrive robotDrive;
  private final Encoder leftEncoder, rightEncoder;

  private BNO055 imu;

  private DriveTrain() {
    // MOTOR CONTROLLERS
    frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
    frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
    rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
    rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);

    // ENCODERS
    leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
        Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
    rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
        Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);

    leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
    rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);

    // ROBOT DRIVE
    robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);

    this.imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
        BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
    gyroZero = imu.getHeading();
  }

  public static DriveTrain getDriveTrain() {
    if (driveTrain == null) {
      driveTrain = new DriveTrain();
    }
    return driveTrain;
  }

  // DRIVE METHODS
  public void setMotorValues(final double left, final double right) {
    frontLeft.set(left);
    rearLeft.set(left);

    frontRight.set(-right);
    rearRight.set(-right);
  }

  public void joystickDrive(final double thrust, final double twist) {
    robotDrive.arcadeDrive(thrust, twist, true);
  }

  public void stop() {
    setMotorValues(0, 0);
  }

  public double getLeftMotorVal() {
    return (frontLeft.get() + rearLeft.get()) / 2;
  }

  public double getRightMotorVal() {
    return (frontRight.get() + rearRight.get()) / 2;
  }

  // ENCODER METHODS

  public double getLeftEncoderDistance() {
    return leftEncoder.getDistance();
  }

  public double getRightEncoderDistance() {
    return rightEncoder.getDistance();
  }

  public void printEncoderOutput() {
    // System.out.println("left: " + getLeftEncoderDistance());
    // System.out.println("right: " + getRightEncoderDistance());
    System.out.println(getAvgEncoderDistance());
  }

  public double getAvgEncoderDistance() {
    return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
  }

  public void resetEncoders() {
    leftEncoder.reset();
    rightEncoder.reset();
  }

  public double getLeftSpeed() {
    return leftEncoder.getRate();
  }

  public double getRightSpeed() {
    return rightEncoder.getRate();
  }

  public double getSpeed() {
    return (getLeftSpeed() + getRightSpeed()) / 2.0;
  }

  // ------Gyro------//
  public double getAngle() {
    if (!this.imu.isInitialized())
      return -1;
    return this.imu.getHeading() - this.gyroZero;
  }

  public void resetGyro() {
    this.gyroZero = this.getAngle();

  }

  public double getZeroAngle() {
    return this.gyroZero;
  }

  @Override
  protected void initDefaultCommand() {
    setDefaultCommand(new JoystickDrive());
  }

}