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 = 0.012, driveI = 0.0011, driveD = -0.002;
  18   public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
  19   public static double driveStraightGyroP = 0.01;
  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   public static final double MAINTAIN_CLIMBED_POSITION = 0;
  27   public static final double TIME_TO_CLIMB_FOR = 0;
  28   public static final double CLIMBER_SPEED = 0;
  29
  30   private static DriveTrain driveTrain;
  31
  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
  39   public boolean shouldBeClimbing = false;
  40
  41   private PIDController driveController;
  42
  43   private DriveTrain() {
  44
  45     driveController = new PIDController(driveP, driveI, driveD);
  46
  47     // MOTOR CONTROLLERS
  48     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  49     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  50     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  51     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  52
  53     // ENCODERS
  54     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  55         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  56     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  57         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  58
  59     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  60     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  61
  62     // ROBOT DRIVE
  63     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  64
  65     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  66
  67     // TODO: Not sure if MODULE_NUMBER should be the same for both
  68     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  69         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  70         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  71     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  72         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  73         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  74   }
  75
  76   public PIDController getDriveController() {
  77     return this.driveController;
  78   }
  79
  80   public static DriveTrain getDriveTrain() {
  81     if (driveTrain == null) {
  82       driveTrain = new DriveTrain();
  83     }
  84     return driveTrain;
  85   }
  86
  87   // DRIVE METHODS
  88   public void setMotorValues(final double left, final double right) {
  89     frontLeft.set(left);
  90     rearLeft.set(left);
  91
  92     frontRight.set(-right);
  93     rearRight.set(-right);
  94   }
  95
  96   public void joystickDrive(final double thrust, final double twist) {
  97     robotDrive.arcadeDrive(thrust, twist, true);
  98   }
  99
 100   public void stop() {
 101     setMotorValues(0, 0);
 102   }
 103
 104   public double getLeftMotorVal() {
 105     return (frontLeft.get() + rearLeft.get()) / 2;
 106   }
 107
 108   public double getRightMotorVal() {
 109     return (frontRight.get() + rearRight.get()) / 2;
 110   }
 111
 112   // ENCODER METHODS
 113
 114   public double getLeftEncoderDistance() {
 115     return leftEncoder.getDistance();
 116   }
 117
 118   public double getRightEncoderDistance() {
 119     return rightEncoder.getDistance();
 120   }
 121
 122   public void printEncoderOutput() {
 123     System.out.println("left: " + getLeftEncoderDistance());
 124     System.out.println("right: " + getRightEncoderDistance());
 125     // System.out.println(getAvgEncoderDistance());
 126   }
 127
 128   public double getAvgEncoderDistance() {
 129     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 130   }
 131
 132   public void resetEncoders() {
 133     leftEncoder.reset();
 134     rightEncoder.reset();
 135   }
 136
 137   public double getLeftSpeed() {
 138     return leftEncoder.getRate();
 139   }
 140
 141   public double getRightSpeed() {
 142     return rightEncoder.getRate();
 143   }
 144
 145   public double getSpeed() {
 146     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 147   }
 148
 149   // ------Gyro------//
 150   public double getAngle() {
 151     return this.imu.getAngle();
 152   }
 153
 154   public void resetGyro() {
 155     this.imu.reset();
 156   }
 157
 158   /*
 159    * @return a value that is the current setpoint for the piston kReverse or
 160    * KForward
 161    */
 162   public Value getLeftGearPistonValue() {
 163     return leftGearPiston.get();
 164   }
 165
 166   /*
 167    * @return a value that is the current setpoint for the piston kReverse or
 168    * KForward
 169    */
 170   public Value getRightGearPistonValue() {
 171     return rightGearPiston.get();
 172   }
 173
 174   /*
 175    * Changes the ball shift gear assembly to high
 176    */
 177   public void setHighGear() {
 178     changeGear(Constants.DriveTrain.HIGH_GEAR);
 179   }
 180
 181   /*
 182    * Changes the ball shift gear assembly to low
 183    */
 184   public void setLowGear() {
 185     changeGear(Constants.DriveTrain.LOW_GEAR);
 186   }
 187
 188   /*
 189    * Changes the gear to a DoubleSolenoid.Value
 190    */
 191   private void changeGear(DoubleSolenoid.Value gear) {
 192     leftGearPiston.set(gear);
 193     rightGearPiston.set(gear);
 194   }
 195
 196   @Override
 197   protected void initDefaultCommand() {
 198     setDefaultCommand(new JoystickDrive());
 199   }
 200 }