Commit | Line | Data |
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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 { | |
b70398a7 CZ |
17 | public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002; |
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; | |
73e8adbc | 40 | private final DoubleSolenoid leftGearPiston, rightGearPiston; |
cc42bd52 | 41 | |
bf921ece | 42 | private ADXRS450_Gyro imu; |
e12d6901 | 43 | |
366f1cfd | 44 | public boolean shouldBeClimbing = false; |
cef1f36d | 45 | |
cc42bd52 ME |
46 | private DriveTrain() { |
47 | // MOTOR CONTROLLERS | |
48 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); | |
49 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
50 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
51 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
52 | ||
53 | // ENCODERS | |
54 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, | |
3e2738c4 | 55 | Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X); |
cc42bd52 | 56 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, |
3e2738c4 | 57 | Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X); |
cc42bd52 | 58 | |
b634ebbc CZ |
59 | leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
60 | rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); | |
cc42bd52 ME |
61 | |
62 | // ROBOT DRIVE | |
63 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); | |
8e4c083c | 64 | |
bf921ece | 65 | this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT); |
af4491f7 | 66 | |
ca372ce8 | 67 | // TODO: Not sure if MODULE_NUMBER should be the same for both |
58bcc21d | 68 | leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE, |
ca372ce8 AD |
69 | Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD, |
70 | Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE); | |
58bcc21d | 71 | rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE, |
ca372ce8 AD |
72 | Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD, |
73 | Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE); | |
cc42bd52 ME |
74 | } |
75 | ||
76 | public static DriveTrain getDriveTrain() { | |
77 | if (driveTrain == null) { | |
78 | driveTrain = new DriveTrain(); | |
79 | } | |
80 | return driveTrain; | |
81 | } | |
82 | ||
83 | // DRIVE METHODS | |
ac77a7b8 | 84 | public void setMotorValues(double left, double right) { |
b70398a7 CZ |
85 | left = MathLib.restrictToRange(left, -1.0, 1.0); |
86 | right = MathLib.restrictToRange(right, -1.0, 1.0); | |
ac77a7b8 | 87 | |
cc42bd52 ME |
88 | frontLeft.set(left); |
89 | rearLeft.set(left); | |
90 | ||
b081e34b ME |
91 | frontRight.set(-right); |
92 | rearRight.set(-right); | |
cc42bd52 ME |
93 | } |
94 | ||
95 | public void joystickDrive(final double thrust, final double twist) { | |
b081e34b | 96 | robotDrive.arcadeDrive(thrust, twist, true); |
cc42bd52 ME |
97 | } |
98 | ||
99 | public void stop() { | |
100 | setMotorValues(0, 0); | |
101 | } | |
102 | ||
f0a71840 CZ |
103 | public double getLeftMotorVal() { |
104 | return (frontLeft.get() + rearLeft.get()) / 2; | |
cc42bd52 ME |
105 | } |
106 | ||
f0a71840 CZ |
107 | public double getRightMotorVal() { |
108 | return (frontRight.get() + rearRight.get()) / 2; | |
cc42bd52 ME |
109 | } |
110 | ||
cc42bd52 ME |
111 | // ENCODER METHODS |
112 | ||
3a5d9ac7 | 113 | public double getLeftEncoderDistance() { |
cc42bd52 ME |
114 | return leftEncoder.getDistance(); |
115 | } | |
116 | ||
3a5d9ac7 | 117 | public double getRightEncoderDistance() { |
cc42bd52 ME |
118 | return rightEncoder.getDistance(); |
119 | } | |
120 | ||
8e4c083c | 121 | public void printEncoderOutput() { |
174f415c CZ |
122 | System.out.println("left: " + getLeftEncoderDistance()); |
123 | System.out.println("right: " + getRightEncoderDistance()); | |
c846487e | 124 | // System.out.println(getAvgEncoderDistance()); |
8e4c083c CZ |
125 | } |
126 | ||
cc42bd52 ME |
127 | public double getAvgEncoderDistance() { |
128 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
129 | } | |
130 | ||
131 | public void resetEncoders() { | |
132 | leftEncoder.reset(); | |
133 | rightEncoder.reset(); | |
134 | } | |
135 | ||
136 | public double getLeftSpeed() { | |
137 | return leftEncoder.getRate(); | |
138 | } | |
139 | ||
140 | public double getRightSpeed() { | |
141 | return rightEncoder.getRate(); | |
142 | } | |
143 | ||
144 | public double getSpeed() { | |
145 | return (getLeftSpeed() + getRightSpeed()) / 2.0; | |
146 | } | |
147 | ||
e12d6901 CZ |
148 | // ------Gyro------// |
149 | public double getAngle() { | |
c846487e | 150 | return this.imu.getAngle(); |
e12d6901 CZ |
151 | } |
152 | ||
153 | public void resetGyro() { | |
571fb5c9 | 154 | this.imu.reset(); |
e12d6901 CZ |
155 | } |
156 | ||
73e8adbc AD |
157 | /* |
158 | * @return a value that is the current setpoint for the piston kReverse or | |
159 | * KForward | |
160 | */ | |
06415bd8 | 161 | public Value getLeftGearPistonValue() { |
73e8adbc AD |
162 | return leftGearPiston.get(); |
163 | } | |
164 | ||
06415bd8 AD |
165 | /* |
166 | * @return a value that is the current setpoint for the piston kReverse or | |
167 | * KForward | |
168 | */ | |
169 | public Value getRightGearPistonValue() { | |
170 | return rightGearPiston.get(); | |
171 | } | |
172 | ||
73e8adbc AD |
173 | /* |
174 | * Changes the ball shift gear assembly to high | |
175 | */ | |
176 | public void setHighGear() { | |
177 | changeGear(Constants.DriveTrain.HIGH_GEAR); | |
178 | } | |
179 | ||
180 | /* | |
181 | * Changes the ball shift gear assembly to low | |
182 | */ | |
183 | public void setLowGear() { | |
184 | changeGear(Constants.DriveTrain.LOW_GEAR); | |
185 | } | |
186 | ||
187 | /* | |
188 | * Changes the gear to a DoubleSolenoid.Value | |
189 | */ | |
190 | private void changeGear(DoubleSolenoid.Value gear) { | |
191 | leftGearPiston.set(gear); | |
192 | rightGearPiston.set(gear); | |
e12d6901 CZ |
193 | } |
194 | ||
cc42bd52 ME |
195 | @Override |
196 | protected void initDefaultCommand() { | |
197 | setDefaultCommand(new JoystickDrive()); | |
198 | } | |
f56e6ebf CZ |
199 | |
200 | public void setCANTalonsBrakeMode(boolean mode) { | |
201 | frontLeft.enableBrakeMode(mode); | |
202 | rearLeft.enableBrakeMode(mode); | |
203 | ||
204 | frontRight.enableBrakeMode(mode); | |
205 | rearRight.enableBrakeMode(mode); | |
206 | } | |
38a404b3 | 207 | } |