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