| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | import org.usfirst.frc.team3501.robot.MathLib; |
| 5 | import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive; |
| 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.RobotDrive; |
| 14 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 15 | |
| 16 | public class DriveTrain extends Subsystem { |
| 17 | public static double driveP = 0.01, driveI = 0.00115, 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; |
| 21 | public static double driveStraightGyroP = 0.01; |
| 22 | |
| 23 | public static final double WHEEL_DIAMETER = 4; // inches |
| 24 | public static final double ENCODER_PULSES_PER_REVOLUTION = 256; |
| 25 | public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI |
| 26 | / ENCODER_PULSES_PER_REVOLUTION; |
| 27 | |
| 28 | public static final boolean BRAKE_MODE = true; |
| 29 | public static final boolean COAST_MODE = false; |
| 30 | |
| 31 | private static DriveTrain driveTrain; |
| 32 | |
| 33 | private final CANTalon frontLeft, frontRight, rearLeft, rearRight; |
| 34 | private final RobotDrive robotDrive; |
| 35 | private final Encoder leftEncoder, rightEncoder; |
| 36 | private final DoubleSolenoid rightDriveTrainPiston; |
| 37 | // private final Solenoid leftDriveTrainPiston; |
| 38 | private final DoubleSolenoid gearManipulatorPiston; |
| 39 | |
| 40 | private ADXRS450_Gyro imu; |
| 41 | |
| 42 | private DriveTrain() { |
| 43 | // MOTOR CONTROLLERS |
| 44 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); |
| 45 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); |
| 46 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); |
| 47 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); |
| 48 | |
| 49 | // ENCODERS |
| 50 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, |
| 51 | Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X); |
| 52 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, |
| 53 | Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X); |
| 54 | |
| 55 | leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
| 56 | rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); |
| 57 | |
| 58 | // ROBOT DRIVE |
| 59 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); |
| 60 | |
| 61 | this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT); |
| 62 | |
| 63 | // TODO: Not sure if MODULE_NUMBER should be the same for both |
| 64 | // leftDriveTrainPiston = new Solenoid(Constants.DriveTrain.PISTON_MODULE, |
| 65 | // Constants.DriveTrain.LEFT_GEAR_PISTON_PORT); |
| 66 | rightDriveTrainPiston = new DoubleSolenoid( |
| 67 | Constants.DriveTrain.PISTON_MODULE, |
| 68 | Constants.DriveTrain.DRIVETRAIN_GEAR_FORWARD, |
| 69 | Constants.DriveTrain.DRIVETRAIN_GEAR_REVERSE); |
| 70 | |
| 71 | gearManipulatorPiston = new DoubleSolenoid( |
| 72 | Constants.DriveTrain.PISTON_MODULE, |
| 73 | Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_FORWARD, |
| 74 | Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_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(double left, double right) { |
| 86 | left = MathLib.restrictToRange(left, -1.0, 1.0); |
| 87 | right = MathLib.restrictToRange(right, -1.0, 1.0); |
| 88 | |
| 89 | frontLeft.set(left); |
| 90 | rearLeft.set(left); |
| 91 | |
| 92 | frontRight.set(-right); |
| 93 | rearRight.set(-right); |
| 94 | } |
| 95 | |
| 96 | public void setCANTalonsBrakeMode(boolean mode) { |
| 97 | frontLeft.enableBrakeMode(mode); |
| 98 | frontRight.enableBrakeMode(mode); |
| 99 | rearLeft.enableBrakeMode(mode); |
| 100 | rearRight.enableBrakeMode(mode); |
| 101 | } |
| 102 | |
| 103 | public void joystickDrive(final double thrust, final double twist) { |
| 104 | if ((thrust < 0.1 && thrust > -0.1) && (twist < 0.1 && twist > -0.1)) |
| 105 | robotDrive.arcadeDrive(0, 0, true); |
| 106 | else |
| 107 | robotDrive.arcadeDrive(thrust, twist, true); |
| 108 | System.out.println(thrust + " " + twist); |
| 109 | } |
| 110 | |
| 111 | public void tankDrive(double left, double right) { |
| 112 | robotDrive.tankDrive(left, right); |
| 113 | } |
| 114 | |
| 115 | public void stop() { |
| 116 | setMotorValues(0, 0); |
| 117 | } |
| 118 | |
| 119 | public double getLeftMotorVal() { |
| 120 | return (frontLeft.get() + rearLeft.get()) / 2; |
| 121 | } |
| 122 | |
| 123 | public double getRightMotorVal() { |
| 124 | return (frontRight.get() + rearRight.get()) / 2; |
| 125 | } |
| 126 | |
| 127 | // ENCODER METHODS |
| 128 | |
| 129 | public double getLeftEncoderDistance() { |
| 130 | return leftEncoder.getDistance(); |
| 131 | } |
| 132 | |
| 133 | public double getRightEncoderDistance() { |
| 134 | return rightEncoder.getDistance(); |
| 135 | } |
| 136 | |
| 137 | public void printEncoderOutput() { |
| 138 | System.out.println("left: " + getLeftEncoderDistance()); |
| 139 | System.out.println("right: " + getRightEncoderDistance()); |
| 140 | // System.out.println(getAvgEncoderDistance()); |
| 141 | } |
| 142 | |
| 143 | public double getAvgEncoderDistance() { |
| 144 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; |
| 145 | } |
| 146 | |
| 147 | public void resetEncoders() { |
| 148 | leftEncoder.reset(); |
| 149 | rightEncoder.reset(); |
| 150 | } |
| 151 | |
| 152 | public double getLeftSpeed() { |
| 153 | return leftEncoder.getRate(); |
| 154 | } |
| 155 | |
| 156 | public double getRightSpeed() { |
| 157 | return rightEncoder.getRate(); |
| 158 | } |
| 159 | |
| 160 | public double getSpeed() { |
| 161 | return (getLeftSpeed() + getRightSpeed()) / 2.0; |
| 162 | } |
| 163 | |
| 164 | // ------Gyro------// |
| 165 | public double getAngle() { |
| 166 | return this.imu.getAngle(); |
| 167 | } |
| 168 | |
| 169 | public void resetGyro() { |
| 170 | this.imu.reset(); |
| 171 | } |
| 172 | |
| 173 | /* |
| 174 | * @return a value that is the current setpoint for the piston kReverse or |
| 175 | * KForward |
| 176 | */ |
| 177 | // public boolean getLeftDriveTrainPiston() { |
| 178 | // return leftDriveTrainPiston.get(); |
| 179 | // } |
| 180 | |
| 181 | /* |
| 182 | * @return a value that is the current setpoint for the piston kReverse or |
| 183 | * KForward |
| 184 | */ |
| 185 | public Value getRightDriveTrainPiston() { |
| 186 | return rightDriveTrainPiston.get(); |
| 187 | } |
| 188 | |
| 189 | /* |
| 190 | * Changes the ball shift gear assembly to high |
| 191 | */ |
| 192 | public void setHighGear() { |
| 193 | changeGear(Constants.DriveTrain.FORWARD_PISTON_VALUE); |
| 194 | } |
| 195 | |
| 196 | /* |
| 197 | * Changes the ball shift gear assembly to low |
| 198 | */ |
| 199 | public void setLowGear() { |
| 200 | changeGear(Constants.DriveTrain.REVERSE_PISTON_VALUE); |
| 201 | } |
| 202 | |
| 203 | /* |
| 204 | * Changes the gear to a DoubleSolenoid.Value |
| 205 | */ |
| 206 | private void changeGear(DoubleSolenoid.Value gear) { |
| 207 | System.out.println("shifting to " + gear); |
| 208 | rightDriveTrainPiston.set(gear); |
| 209 | System.out.println("after: " + this.getRightDriveTrainPiston()); |
| 210 | |
| 211 | // |
| 212 | // if (gear == Constants.DriveTrain.FORWARD_PISTON_VALUE) |
| 213 | // leftDriveTrainPiston.set(Constants.DriveTrain.EXTEND_VALUE); |
| 214 | // else |
| 215 | // leftDriveTrainPiston.set(Constants.DriveTrain.RETRACT_VALUE); |
| 216 | } |
| 217 | |
| 218 | public Value getGearManipulatorPistonValue() { |
| 219 | return gearManipulatorPiston.get(); |
| 220 | } |
| 221 | |
| 222 | public void extendGearManipulatorPiston() { |
| 223 | gearManipulatorPiston.set(Constants.DriveTrain.FORWARD_PISTON_VALUE); |
| 224 | } |
| 225 | |
| 226 | public void retractGearManipulatorPiston() { |
| 227 | gearManipulatorPiston.set(Constants.DriveTrain.REVERSE_PISTON_VALUE); |
| 228 | } |
| 229 | |
| 230 | @Override |
| 231 | protected void initDefaultCommand() { |
| 232 | setDefaultCommand(new JoystickDrive()); |
| 233 | } |
| 234 | } |