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1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
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4 | |
5 | import com.ctre.CANTalon; | |
6 | ||
fa4e4a97 | 7 | import edu.wpi.first.wpilibj.Encoder; |
ccbc35ae | 8 | import edu.wpi.first.wpilibj.RobotDrive; |
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9 | import edu.wpi.first.wpilibj.command.Subsystem; |
10 | ||
11 | public class DriveTrain extends Subsystem { | |
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12 | private static DriveTrain driveTrain; |
13 | private CANTalon frontLeft, frontRight, rearLeft, rearRight; | |
14 | private RobotDrive robotDrive; | |
fa4e4a97 | 15 | private Encoder leftEncoder, rightEncoder; |
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16 | |
17 | private DriveTrain() { | |
fa4e4a97 | 18 | // MOTOR CONTROLLERS |
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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 | ||
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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 | |
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34 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); |
35 | } | |
36 | ||
37 | public static DriveTrain getDriveTrain() { | |
38 | if (driveTrain == null) | |
39 | driveTrain = new DriveTrain(); | |
40 | return driveTrain; | |
41 | } | |
42 | ||
43 | public void setMotorSpeeds(double left, double right) { | |
44 | robotDrive.tankDrive(left, right); | |
45 | } | |
46 | ||
fa4e4a97 ME |
47 | // ENCODER METHODS |
48 | ||
49 | public double getLeftEncoder() { | |
50 | return leftEncoder.getDistance(); | |
51 | } | |
52 | ||
53 | public double getRightEncoder() { | |
54 | return rightEncoder.getDistance(); | |
55 | } | |
56 | ||
57 | public double getAvgEncoderDistance() { | |
58 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
59 | } | |
60 | ||
61 | public void resetEncoders() { | |
62 | leftEncoder.reset(); | |
63 | rightEncoder.reset(); | |
64 | } | |
65 | ||
66 | public double getLeftSpeed() { | |
67 | return leftEncoder.getRate(); | |
68 | } | |
69 | ||
70 | public double getRightSpeed() { | |
71 | return rightEncoder.getRate(); | |
72 | } | |
73 | ||
74 | public double getSpeed() { | |
75 | return (getLeftSpeed() + getRightSpeed()) / 2.0; | |
76 | } | |
77 | ||
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78 | @Override |
79 | protected void initDefaultCommand() { | |
80 | } | |
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81 | |
82 | } |