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.MathLib;
   5 import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
   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 = 0.006, 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 = 4; // inches
  22   public static final double 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 DriveTrain() {
  42     // MOTOR CONTROLLERS
  43     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  44     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  45     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  46     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  47
  48     // ENCODERS
  49     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  50         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  51     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  52         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  53
  54     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  55     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  56
  57     // ROBOT DRIVE
  58     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  59
  60     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  61
  62     // TODO: Not sure if MODULE_NUMBER should be the same for both
  63     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  64         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  65         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  66     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  67         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  68         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  69   }
  70
  71   public static DriveTrain getDriveTrain() {
  72     if (driveTrain == null) {
  73       driveTrain = new DriveTrain();
  74     }
  75     return driveTrain;
  76   }
  77
  78   // DRIVE METHODS
  79   public void setMotorValues(double left, double right) {
  80     left = MathLib.restrictToRange(left, 0.0, 1.0);
  81     right = MathLib.restrictToRange(right, 0.0, 1.0);
  82
  83     frontLeft.set(left);
  84     rearLeft.set(left);
  85
  86     frontRight.set(-right);
  87     rearRight.set(-right);
  88   }
  89
  90   public void joystickDrive(final double thrust, final double twist) {
  91     robotDrive.arcadeDrive(thrust, twist, true);
  92   }
  93
  94   public void stop() {
  95     setMotorValues(0, 0);
  96   }
  97
  98   public double getLeftMotorVal() {
  99     return (frontLeft.get() + rearLeft.get()) / 2;
 100   }
 101
 102   public double getRightMotorVal() {
 103     return (frontRight.get() + rearRight.get()) / 2;
 104   }
 105
 106   // ENCODER METHODS
 107
 108   public double getLeftEncoderDistance() {
 109     return leftEncoder.getDistance();
 110   }
 111
 112   public double getRightEncoderDistance() {
 113     return rightEncoder.getDistance();
 114   }
 115
 116   public void printEncoderOutput() {
 117     System.out.println("left: " + getLeftEncoderDistance());
 118     System.out.println("right: " + getRightEncoderDistance());
 119     // System.out.println(getAvgEncoderDistance());
 120   }
 121
 122   public double getAvgEncoderDistance() {
 123     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 124   }
 125
 126   public void resetEncoders() {
 127     leftEncoder.reset();
 128     rightEncoder.reset();
 129   }
 130
 131   public double getLeftSpeed() {
 132     return leftEncoder.getRate();
 133   }
 134
 135   public double getRightSpeed() {
 136     return rightEncoder.getRate();
 137   }
 138
 139   public double getSpeed() {
 140     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 141   }
 142
 143   // ------Gyro------//
 144   public double getAngle() {
 145     return this.imu.getAngle();
 146   }
 147
 148   public void resetGyro() {
 149     this.imu.reset();
 150   }
 151
 152   /*
 153    * @return a value that is the current setpoint for the piston kReverse or
 154    * KForward
 155    */
 156   public Value getLeftGearPistonValue() {
 157     return leftGearPiston.get();
 158   }
 159
 160   /*
 161    * @return a value that is the current setpoint for the piston kReverse or
 162    * KForward
 163    */
 164   public Value getRightGearPistonValue() {
 165     return rightGearPiston.get();
 166   }
 167
 168   /*
 169    * Changes the ball shift gear assembly to high
 170    */
 171   public void setHighGear() {
 172     changeGear(Constants.DriveTrain.HIGH_GEAR);
 173   }
 174
 175   /*
 176    * Changes the ball shift gear assembly to low
 177    */
 178   public void setLowGear() {
 179     changeGear(Constants.DriveTrain.LOW_GEAR);
 180   }
 181
 182   /*
 183    * Changes the gear to a DoubleSolenoid.Value
 184    */
 185   private void changeGear(DoubleSolenoid.Value gear) {
 186     leftGearPiston.set(gear);
 187     rightGearPiston.set(gear);
 188   }
 189
 190   @Override
 191   protected void initDefaultCommand() {
 192     setDefaultCommand(new JoystickDrive());
 193   }
 194 }