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.Encoder;
   9 import edu.wpi.first.wpilibj.RobotDrive;
  10 import edu.wpi.first.wpilibj.command.Subsystem;
  11
  12 public class DriveTrain extends Subsystem {
  13   public static final double WHEEL_DIAMETER = 6; // inches
  14   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  15   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  16       / ENCODER_PULSES_PER_REVOLUTION;
  17
  18   private static DriveTrain driveTrain;
  19   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  20   private final RobotDrive robotDrive;
  21   private final Encoder leftEncoder, rightEncoder;
  22
  23   private DriveTrain() {
  24     // MOTOR CONTROLLERS
  25     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  26     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  27     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  28     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  29
  30     // ENCODERS
  31     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  32         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  33     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  34         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  35
  36     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  37     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  38
  39     // ROBOT DRIVE
  40     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  41   }
  42
  43   public static DriveTrain getDriveTrain() {
  44     if (driveTrain == null) {
  45       driveTrain = new DriveTrain();
  46     }
  47     return driveTrain;
  48   }
  49
  50   // DRIVE METHODS
  51   public void setMotorValues(final double left, final double right) {
  52     frontLeft.set(left);
  53     rearLeft.set(left);
  54
  55     frontRight.set(-right);
  56     rearRight.set(-right);
  57   }
  58
  59   public void joystickDrive(final double thrust, final double twist) {
  60     robotDrive.arcadeDrive(thrust, twist, true);
  61   }
  62
  63   public void stop() {
  64     setMotorValues(0, 0);
  65   }
  66
  67   public double getFrontLeftMotorVal() {
  68     return frontLeft.get();
  69   }
  70
  71   public double getFrontRightMotorVal() {
  72     return frontRight.get();
  73   }
  74
  75   public double getRearLeftMotorVal() {
  76     return frontLeft.get();
  77   }
  78
  79   public double getRearRightMotorVal() {
  80     return frontLeft.get();
  81   }
  82
  83   // ENCODER METHODS
  84
  85   public double getLeftEncoderDistance() {
  86     return leftEncoder.getDistance();
  87   }
  88
  89   public double getRightEncoderDistance() {
  90     return rightEncoder.getDistance();
  91   }
  92
  93   public double getAvgEncoderDistance() {
  94     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
  95   }
  96
  97   public void resetEncoders() {
  98     leftEncoder.reset();
  99     rightEncoder.reset();
 100   }
 101
 102   public double getLeftSpeed() {
 103     return leftEncoder.getRate();
 104   }
 105
 106   public double getRightSpeed() {
 107     return rightEncoder.getRate();
 108   }
 109
 110   public double getSpeed() {
 111     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 112   }
 113
 114   @Override
 115   protected void initDefaultCommand() {
 116     setDefaultCommand(new JoystickDrive());
 117   }
 118
 119 }