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
   6 import com.ctre.CANTalon;
   7
   8 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
   9 import edu.wpi.first.wpilibj.Encoder;
  10 import edu.wpi.first.wpilibj.RobotDrive;
  11 import edu.wpi.first.wpilibj.command.Subsystem;
  12
  13 public class DriveTrain extends Subsystem {
  14   public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
  15   public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
  16       defaultGyroD = -0.005;
  17   private double gyroZero = 0;
  18
  19   public static final double WHEEL_DIAMETER = 6; // inches
  20   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  21   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  22       / ENCODER_PULSES_PER_REVOLUTION;
  23
  24   private static DriveTrain driveTrain;
  25   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  26   private final RobotDrive robotDrive;
  27   private final Encoder leftEncoder, rightEncoder;
  28
  29   private ADXRS450_Gyro imu;
  30
  31   private DriveTrain() {
  32     // MOTOR CONTROLLERS
  33     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  34     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  35     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  36     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  37
  38     // ENCODERS
  39     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  40         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  41     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  42         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  43
  44     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  45     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  46
  47     // ROBOT DRIVE
  48     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  49
  50     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  51   }
  52
  53   public static DriveTrain getDriveTrain() {
  54     if (driveTrain == null) {
  55       driveTrain = new DriveTrain();
  56     }
  57     return driveTrain;
  58   }
  59
  60   // DRIVE METHODS
  61   public void setMotorValues(final double left, final double right) {
  62     frontLeft.set(left);
  63     rearLeft.set(left);
  64
  65     frontRight.set(-right);
  66     rearRight.set(-right);
  67   }
  68
  69   public void joystickDrive(final double thrust, final double twist) {
  70     robotDrive.arcadeDrive(thrust, twist, true);
  71   }
  72
  73   public void stop() {
  74     setMotorValues(0, 0);
  75   }
  76
  77   public double getLeftMotorVal() {
  78     return (frontLeft.get() + rearLeft.get()) / 2;
  79   }
  80
  81   public double getRightMotorVal() {
  82     return (frontRight.get() + rearRight.get()) / 2;
  83   }
  84
  85   // ENCODER METHODS
  86
  87   public double getLeftEncoderDistance() {
  88     return leftEncoder.getDistance();
  89   }
  90
  91   public double getRightEncoderDistance() {
  92     return rightEncoder.getDistance();
  93   }
  94
  95   public void printEncoderOutput() {
  96     // System.out.println("left: " + getLeftEncoderDistance());
  97     // System.out.println("right: " + getRightEncoderDistance());
  98     System.out.println(getAvgEncoderDistance());
  99   }
 100
 101   public double getAvgEncoderDistance() {
 102     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 103   }
 104
 105   public void resetEncoders() {
 106     leftEncoder.reset();
 107     rightEncoder.reset();
 108   }
 109
 110   public double getLeftSpeed() {
 111     return leftEncoder.getRate();
 112   }
 113
 114   public double getRightSpeed() {
 115     return rightEncoder.getRate();
 116   }
 117
 118   public double getSpeed() {
 119     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 120   }
 121
 122   // ------Gyro------//
 123   public double getAngle() {
 124     return this.imu.getAngle() - this.gyroZero;
 125   }
 126
 127   public void resetGyro() {
 128     this.imu.reset();
 129   }
 130
 131   public double getZeroAngle() {
 132     return this.gyroZero;
 133   }
 134
 135   @Override
 136   protected void initDefaultCommand() {
 137     setDefaultCommand(new JoystickDrive());
 138   }
 139
 140 }