| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive; |
| 5 | import org.usfirst.frc.team3501.robot.utils.BNO055; |
| 6 | |
| 7 | import com.ctre.CANTalon; |
| 8 | |
| 9 | import edu.wpi.first.wpilibj.ADXRS450_Gyro; |
| 10 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
| 11 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; |
| 12 | import edu.wpi.first.wpilibj.Encoder; |
| 13 | import edu.wpi.first.wpilibj.I2C.Port; |
| 14 | import edu.wpi.first.wpilibj.RobotDrive; |
| 15 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 16 | |
| 17 | public class DriveTrain extends Subsystem { |
| 18 | public static double driveP = 0.006, driveI = 0.001, driveD = -0.002; |
| 19 | public static double defaultGyroP = 0.004, defaultGyroI = 0.0013, |
| 20 | defaultGyroD = -0.005; |
| 21 | public static double driveP = 0.008, driveI = 0.001, driveD = -0.002; |
| 22 | public static double defaultGyroP = 0.009, defaultGyroI = 0.00000, |
| 23 | defaultGyroD = -0.000; |
| 24 | private double gyroZero = 0; |
| 25 | |
| 26 | public static final double WHEEL_DIAMETER = 6; // inches |
| 27 | public static final int ENCODER_PULSES_PER_REVOLUTION = 256; |
| 28 | public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI |
| 29 | / ENCODER_PULSES_PER_REVOLUTION; |
| 30 | |
| 31 | private static DriveTrain driveTrain; |
| 32 | private final CANTalon frontLeft, frontRight, rearLeft, rearRight; |
| 33 | private final RobotDrive robotDrive; |
| 34 | private final Encoder leftEncoder, rightEncoder; |
| 35 | private final DoubleSolenoid leftGearPiston, rightGearPiston; |
| 36 | |
| 37 | private ADXRS450_Gyro imu; |
| 38 | private BNO055 imu; |
| 39 | |
| 40 | private DriveTrain() { |
| 41 | // MOTOR CONTROLLERS |
| 42 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); |
| 43 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); |
| 44 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); |
| 45 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); |
| 46 | |
| 47 | // ENCODERS |
| 48 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, |
| 49 | Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X); |
| 50 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, |
| 51 | Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X); |
| 52 | |
| 53 | leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
| 54 | rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
| 55 | |
| 56 | // ROBOT DRIVE |
| 57 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); |
| 58 | |
| 59 | this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT); |
| 60 | shifter = DoubleSolenoid(10, Constants.DriveTrain.SHIFTER_FORWARD, |
| 61 | Constants.DriveTrain.SHIFTER_REVERSE); |
| 62 | leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER, |
| 63 | Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE); |
| 64 | rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER, |
| 65 | Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE); |
| 66 | |
| 67 | this.imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS, |
| 68 | BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28); |
| 69 | gyroZero = imu.getHeading(); |
| 70 | |
| 71 | leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER, |
| 72 | Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE); |
| 73 | rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER, |
| 74 | Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE); |
| 75 | } |
| 76 | |
| 77 | public static DriveTrain getDriveTrain() { |
| 78 | if (driveTrain == null) { |
| 79 | driveTrain = new DriveTrain(); |
| 80 | } |
| 81 | return driveTrain; |
| 82 | } |
| 83 | |
| 84 | // DRIVE METHODS |
| 85 | public void setMotorValues(final double left, final double right) { |
| 86 | frontLeft.set(left); |
| 87 | rearLeft.set(left); |
| 88 | |
| 89 | frontRight.set(-right); |
| 90 | rearRight.set(-right); |
| 91 | } |
| 92 | |
| 93 | public void joystickDrive(final double thrust, final double twist) { |
| 94 | robotDrive.arcadeDrive(thrust, twist, true); |
| 95 | } |
| 96 | |
| 97 | public void stop() { |
| 98 | setMotorValues(0, 0); |
| 99 | } |
| 100 | |
| 101 | public double getLeftMotorVal() { |
| 102 | return (frontLeft.get() + rearLeft.get()) / 2; |
| 103 | } |
| 104 | |
| 105 | public double getRightMotorVal() { |
| 106 | return (frontRight.get() + rearRight.get()) / 2; |
| 107 | } |
| 108 | |
| 109 | // ENCODER METHODS |
| 110 | |
| 111 | public double getLeftEncoderDistance() { |
| 112 | return leftEncoder.getDistance(); |
| 113 | } |
| 114 | |
| 115 | public double getRightEncoderDistance() { |
| 116 | return rightEncoder.getDistance(); |
| 117 | } |
| 118 | |
| 119 | public void printEncoderOutput() { |
| 120 | // System.out.println("left: " + getLeftEncoderDistance()); |
| 121 | // System.out.println("right: " + getRightEncoderDistance()); |
| 122 | System.out.println(getAvgEncoderDistance()); |
| 123 | System.out.println("left: " + getLeftEncoderDistance()); |
| 124 | System.out.println("right: " + getRightEncoderDistance()); |
| 125 | } |
| 126 | |
| 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 | |
| 148 | // ------Gyro------// |
| 149 | public double getAngle() { |
| 150 | return this.imu.getAngle() - this.gyroZero; |
| 151 | } |
| 152 | |
| 153 | public void resetGyro() { |
| 154 | this.imu.reset(); |
| 155 | |
| 156 | public double getAngle() { |
| 157 | if (!this.imu.isInitialized()) |
| 158 | return -1; |
| 159 | return this.imu.getHeading() - this.gyroZero; |
| 160 | } |
| 161 | |
| 162 | public void resetGyro() { |
| 163 | this.gyroZero = this.getAngle(); |
| 164 | |
| 165 | } |
| 166 | |
| 167 | public double getZeroAngle() { |
| 168 | return this.gyroZero; |
| 169 | } |
| 170 | |
| 171 | /* |
| 172 | * @return a value that is the current setpoint for the piston kReverse or |
| 173 | * KForward |
| 174 | */ |
| 175 | public Value getLeftGearPistonValue() { |
| 176 | return leftGearPiston.get(); |
| 177 | } |
| 178 | |
| 179 | /* |
| 180 | * @return a value that is the current setpoint for the piston kReverse or |
| 181 | * KForward |
| 182 | */ |
| 183 | public Value getRightGearPistonValue() { |
| 184 | return rightGearPiston.get(); |
| 185 | } |
| 186 | |
| 187 | /* |
| 188 | * Changes the ball shift gear assembly to high |
| 189 | */ |
| 190 | public void setHighGear() { |
| 191 | changeGear(Constants.DriveTrain.HIGH_GEAR); |
| 192 | } |
| 193 | |
| 194 | /* |
| 195 | * Changes the ball shift gear assembly to low |
| 196 | */ |
| 197 | public void setLowGear() { |
| 198 | changeGear(Constants.DriveTrain.LOW_GEAR); |
| 199 | } |
| 200 | |
| 201 | /* |
| 202 | * Changes the gear to a DoubleSolenoid.Value |
| 203 | */ |
| 204 | private void changeGear(DoubleSolenoid.Value gear) { |
| 205 | leftGearPiston.set(gear); |
| 206 | rightGearPiston.set(gear); |
| 207 | } |
| 208 | |
| 209 | @Override |
| 210 | protected void initDefaultCommand() { |
| 211 | setDefaultCommand(new JoystickDrive()); |
| 212 | } |
| 213 | |
| 214 | } |