challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java

   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.PIDController;
   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
  18   public static double driveP, driveI, driveD;
  19   public static double turnP, turnI, turnD;
  20
  21   public static double driveStraightGyroP = 0.01;
  22
  23   public static final String DRIVE_P_Val = "DriveP";
  24   public static final String DRIVE_I_Val = "DriveI";
  25   public static final String DRIVE_D_Val = "DriveD";
  26   public static final String DRIVE_TARGET_DIST = "SET_DIST";
  27   public static final String DRIVE_MOTOR_VAL = "SPEED";
  28   public static final String GYRO_P_Val = "GyroP";
  29   public static final String GYRO_I_Val = "GyroI";
  30   public static final String GYRO_D_Val = "GyroD";
  31   public static final String GYRO_TARGET_ANGLE = "SET_ANGLE";
  32   public static final int PID_ERROR = -1;
  33   public static final int TARGET_DISTANCE_ERROR = -1;
  34
  35   public static final double WHEEL_DIAMETER = 6; // inches
  36   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  37   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  38       / ENCODER_PULSES_PER_REVOLUTION;
  39
  40   public static final double MAINTAIN_CLIMBED_POSITION = 0;
  41   public static final double TIME_TO_CLIMB_FOR = 0;
  42   public static final double CLIMBER_SPEED = 0;
  43
  44   private static DriveTrain driveTrain;
  45
  46   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  47   private final RobotDrive robotDrive;
  48   private final Encoder leftEncoder, rightEncoder;
  49   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  50
  51   private ADXRS450_Gyro imu;
  52
  53   public boolean shouldBeClimbing = false;
  54
  55   private PIDController driveController;
  56   private PIDController gyroController;
  57
  58   private boolean isClimbing;
  59   private static double CLIMBER_SPEED;;
  60
  61   private DriveTrain() {
  62
  63     driveController = new PIDController(driveP, driveI, driveD);
  64     gyroController = new PIDController(turnP, turnI, turnD);
  65
  66     // PID TUNING
  67
  68     // MOTOR CONTROLLERS
  69     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  70     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  71     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  72     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  73
  74     // ENCODERS
  75     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  76         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  77     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  78         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  79
  80     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  81     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  82
  83     // ROBOT DRIVE
  84     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  85
  86     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  87
  88     // TODO: Not sure if MODULE_NUMBER should be the same for both
  89     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  90         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  91         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  92     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  93         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  94         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  95
  96     CLIMBER_SPEED = Constants.DriveTrain.CLIMBER_SPEED;
  97   }
  98
  99   public PIDController getDriveController() {
 100     return this.driveController;
 101   }
 102
 103   public PIDController getGyroController() {
 104     return this.gyroController;
 105   }
 106
 107   public static DriveTrain getDriveTrain() {
 108     if (driveTrain == null) {
 109       driveTrain = new DriveTrain();
 110     }
 111     return driveTrain;
 112   }
 113
 114   // DRIVE METHODS
 115   public void setMotorValues(final double left, final double right) {
 116     frontLeft.set(left);
 117     rearLeft.set(left);
 118
 119     frontRight.set(-right);
 120     rearRight.set(-right);
 121     this.isClimbing = true;
 122   }
 123
 124   public void joystickDrive(final double thrust, final double twist) {
 125     robotDrive.arcadeDrive(thrust, twist, true);
 126   }
 127
 128   public void stop() {
 129     setMotorValues(0, 0);
 130     this.isClimbing = false;
 131   }
 132
 133   public double getLeftMotorVal() {
 134     return (frontLeft.get() + rearLeft.get()) / 2;
 135   }
 136
 137   public double getRightMotorVal() {
 138     return (frontRight.get() + rearRight.get()) / 2;
 139   }
 140
 141   // ENCODER METHODS
 142
 143   public double getLeftEncoderDistance() {
 144     return leftEncoder.getDistance();
 145   }
 146
 147   public double getRightEncoderDistance() {
 148     return rightEncoder.getDistance();
 149   }
 150
 151   public void printEncoderOutput() {
 152     System.out.println("left: " + getLeftEncoderDistance());
 153     System.out.println("right: " + getRightEncoderDistance());
 154     // System.out.println(getAvgEncoderDistance());
 155   }
 156
 157   public double getAvgEncoderDistance() {
 158     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 159   }
 160
 161   public void resetEncoders() {
 162     leftEncoder.reset();
 163     rightEncoder.reset();
 164   }
 165
 166   public double getLeftSpeed() {
 167     return leftEncoder.getRate();
 168   }
 169
 170   public double getRightSpeed() {
 171     return rightEncoder.getRate();
 172   }
 173
 174   public double getSpeed() {
 175     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 176   }
 177
 178   // ------Gyro------//
 179   public double getAngle() {
 180     return this.imu.getAngle();
 181   }
 182
 183   public void resetGyro() {
 184     this.imu.reset();
 185   }
 186
 187   /*
 188    * @return a value that is the current setpoint for the piston kReverse or
 189    * KForward
 190    */
 191   public Value getLeftGearPistonValue() {
 192     return leftGearPiston.get();
 193   }
 194
 195   /*
 196    * @return a value that is the current setpoint for the piston kReverse or
 197    * KForward
 198    */
 199   public Value getRightGearPistonValue() {
 200     return rightGearPiston.get();
 201   }
 202
 203   /*
 204    * Changes the ball shift gear assembly to high
 205    */
 206   public void setHighGear() {
 207     changeGear(Constants.DriveTrain.HIGH_GEAR);
 208   }
 209
 210   /*
 211    * Changes the ball shift gear assembly to low
 212    */
 213   public void setLowGear() {
 214     changeGear(Constants.DriveTrain.LOW_GEAR);
 215   }
 216
 217   /*
 218    * Changes the gear to a DoubleSolenoid.Value
 219    */
 220   private void changeGear(DoubleSolenoid.Value gear) {
 221     leftGearPiston.set(gear);
 222     rightGearPiston.set(gear);
 223   }
 224
 225   @Override
 226   protected void initDefaultCommand() {
 227     setDefaultCommand(new JoystickDrive());
 228   }
 229
 230   public boolean isClimbing() {
 231     return this.isClimbing;
 232   }
 233
 234   public void setClimbing(boolean isClimbing) {
 235     this.isClimbing = isClimbing;
 236   }
 237
 238   public double getClimbingSpeed() {
 239     return this.CLIMBER_SPEED;
 240   }
 241
 242 }