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.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 }