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.DoubleSolenoid;
  10 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
  11 import edu.wpi.first.wpilibj.Encoder;
  12 import edu.wpi.first.wpilibj.RobotDrive;
  13 import edu.wpi.first.wpilibj.command.Subsystem;
  14
  15 public class DriveTrain extends Subsystem {
  16   public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
  17   public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
  18       defaultGyroD = -0.005;
  19   private double gyroZero = 0;
  20
  21   public static final double WHEEL_DIAMETER = 6; // inches
  22   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  23   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  24       / ENCODER_PULSES_PER_REVOLUTION;
  25
  26   private static DriveTrain driveTrain;
  27   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  28   private final RobotDrive robotDrive;
  29   private final Encoder leftEncoder, rightEncoder;
  30   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  31
  32   private ADXRS450_Gyro imu;
  33
  34   private DriveTrain() {
  35     // MOTOR CONTROLLERS
  36     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  37     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  38     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  39     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  40
  41     // ENCODERS
  42     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  43         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  44     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  45         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  46
  47     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  48     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  49
  50     // ROBOT DRIVE
  51     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  52
  53     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  54
  55     // TODO: Not sure if MODULE_NUMBER should be the same for both
  56     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  57         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  58         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  59     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  60         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  61         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  62   }
  63
  64   public static DriveTrain getDriveTrain() {
  65     if (driveTrain == null) {
  66       driveTrain = new DriveTrain();
  67     }
  68     return driveTrain;
  69   }
  70
  71   // DRIVE METHODS
  72   public void setMotorValues(final double left, final double right) {
  73     frontLeft.set(left);
  74     rearLeft.set(left);
  75
  76     frontRight.set(-right);
  77     rearRight.set(-right);
  78   }
  79
  80   public void joystickDrive(final double thrust, final double twist) {
  81     robotDrive.arcadeDrive(thrust, twist, true);
  82   }
  83
  84   public void stop() {
  85     setMotorValues(0, 0);
  86   }
  87
  88   public double getLeftMotorVal() {
  89     return (frontLeft.get() + rearLeft.get()) / 2;
  90   }
  91
  92   public double getRightMotorVal() {
  93     return (frontRight.get() + rearRight.get()) / 2;
  94   }
  95
  96   // ENCODER METHODS
  97
  98   public double getLeftEncoderDistance() {
  99     return leftEncoder.getDistance();
 100   }
 101
 102   public double getRightEncoderDistance() {
 103     return rightEncoder.getDistance();
 104   }
 105
 106   public void printEncoderOutput() {
 107     // System.out.println("left: " + getLeftEncoderDistance());
 108     // System.out.println("right: " + getRightEncoderDistance());
 109     System.out.println(getAvgEncoderDistance());
 110     System.out.println("left: " + getLeftEncoderDistance());
 111     System.out.println("right: " + getRightEncoderDistance());
 112   }
 113
 114   public double getAvgEncoderDistance() {
 115     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 116   }
 117
 118   public void resetEncoders() {
 119     leftEncoder.reset();
 120     rightEncoder.reset();
 121   }
 122
 123   public double getLeftSpeed() {
 124     return leftEncoder.getRate();
 125   }
 126
 127   public double getRightSpeed() {
 128     return rightEncoder.getRate();
 129   }
 130
 131   public double getSpeed() {
 132     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 133   }
 134
 135   // ------Gyro------//
 136   public double getAngle() {
 137     return this.imu.getAngle() - this.gyroZero;
 138   }
 139
 140   public void resetGyro() {
 141     this.imu.reset();
 142   }
 143
 144   public double getZeroAngle() {
 145     return this.gyroZero;
 146   }
 147
 148   /*
 149    * @return a value that is the current setpoint for the piston kReverse or
 150    * KForward
 151    */
 152   public Value getLeftGearPistonValue() {
 153     return leftGearPiston.get();
 154   }
 155
 156   /*
 157    * @return a value that is the current setpoint for the piston kReverse or
 158    * KForward
 159    */
 160   public Value getRightGearPistonValue() {
 161     return rightGearPiston.get();
 162   }
 163
 164   /*
 165    * Changes the ball shift gear assembly to high
 166    */
 167   public void setHighGear() {
 168     changeGear(Constants.DriveTrain.HIGH_GEAR);
 169   }
 170
 171   /*
 172    * Changes the ball shift gear assembly to low
 173    */
 174   public void setLowGear() {
 175     changeGear(Constants.DriveTrain.LOW_GEAR);
 176   }
 177
 178   /*
 179    * Changes the gear to a DoubleSolenoid.Value
 180    */
 181   private void changeGear(DoubleSolenoid.Value gear) {
 182     leftGearPiston.set(gear);
 183     rightGearPiston.set(gear);
 184   }
 185
 186   @Override
 187   protected void initDefaultCommand() {
 188     setDefaultCommand(new JoystickDrive());
 189   }
 190
 191 }