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 = 0.01, driveI = 0.00115, driveD = -0.002;
  18   public static double smallTurnP = 0.004, smallTurnI = 0.0013,
  19       smallTurnD = 0.005;
  20   public static double largeTurnP = .003, largeTurnI = .0012, largeTurnD = .006;
  21   public static double driveStraightGyroP = 0.01;
  22
  23   public static final double WHEEL_DIAMETER = 4; // inches
  24   public static final double ENCODER_PULSES_PER_REVOLUTION = 256;
  25   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  26       / ENCODER_PULSES_PER_REVOLUTION;
  27
  28   private static DriveTrain driveTrain;
  29
  30   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  31   private final RobotDrive robotDrive;
  32   private final Encoder leftEncoder, rightEncoder;
  33   private final DoubleSolenoid rightDriveTrainPiston;
  34   // private final Solenoid leftDriveTrainPiston;
  35   private final DoubleSolenoid gearManipulatorPiston;
  36
  37   private ADXRS450_Gyro imu;
  38
  39   private DriveTrain() {
  40     // MOTOR CONTROLLERS
  41     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  42     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  43     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  44     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  45
  46     // ENCODERS
  47     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  48         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  49     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  50         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  51
  52     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  53     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  54
  55     // ROBOT DRIVE
  56     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  57
  58     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  59
  60     // TODO: Not sure if MODULE_NUMBER should be the same for both
  61     // leftDriveTrainPiston = new Solenoid(Constants.DriveTrain.PISTON_MODULE,
  62     // Constants.DriveTrain.LEFT_GEAR_PISTON_PORT);
  63     rightDriveTrainPiston = new DoubleSolenoid(
  64         Constants.DriveTrain.PISTON_MODULE,
  65         Constants.DriveTrain.DRIVETRAIN_GEAR_FORWARD,
  66         Constants.DriveTrain.DRIVETRAIN_GEAR_REVERSE);
  67
  68     gearManipulatorPiston = new DoubleSolenoid(
  69         Constants.DriveTrain.PISTON_MODULE,
  70         Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_FORWARD,
  71         Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_REVERSE);
  72   }
  73
  74   public static DriveTrain getDriveTrain() {
  75     if (driveTrain == null) {
  76       driveTrain = new DriveTrain();
  77     }
  78     return driveTrain;
  79   }
  80
  81   // DRIVE METHODS
  82   public void setMotorValues(double left, double right) {
  83     left = MathLib.restrictToRange(left, -1.0, 1.0);
  84     right = MathLib.restrictToRange(right, -1.0, 1.0);
  85
  86     frontLeft.set(left);
  87     rearLeft.set(left);
  88
  89     frontRight.set(-right);
  90     rearRight.set(-right);
  91   }
  92
  93   public void joystickDrive(final double thrust, final double twist) {
  94     if ((thrust < 0.1 && thrust > -0.1) && (twist < 0.1 && twist > -0.1))
  95       robotDrive.arcadeDrive(0, 0, true);
  96     else
  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 boolean getLeftDriveTrainPiston() {
 163   // return leftDriveTrainPiston.get();
 164   // }
 165
 166   /*
 167    * @return a value that is the current setpoint for the piston kReverse or
 168    * KForward
 169    */
 170   public Value getRightDriveTrainPiston() {
 171     return rightDriveTrainPiston.get();
 172   }
 173
 174   /*
 175    * Changes the ball shift gear assembly to high
 176    */
 177   public void setHighGear() {
 178     changeGear(Constants.DriveTrain.FORWARD_PISTON_VALUE);
 179   }
 180
 181   /*
 182    * Changes the ball shift gear assembly to low
 183    */
 184   public void setLowGear() {
 185     changeGear(Constants.DriveTrain.REVERSE_PISTON_VALUE);
 186   }
 187
 188   /*
 189    * Changes the gear to a DoubleSolenoid.Value
 190    */
 191   private void changeGear(DoubleSolenoid.Value gear) {
 192     System.out.println("shifting to " + gear);
 193     rightDriveTrainPiston.set(gear);
 194     System.out.println("after: " + this.getRightDriveTrainPiston());
 195
 196     //
 197     // if (gear == Constants.DriveTrain.FORWARD_PISTON_VALUE)
 198     // leftDriveTrainPiston.set(Constants.DriveTrain.EXTEND_VALUE);
 199     // else
 200     // leftDriveTrainPiston.set(Constants.DriveTrain.RETRACT_VALUE);
 201   }
 202
 203   public Value getGearManipulatorPistonValue() {
 204     return gearManipulatorPiston.get();
 205   }
 206
 207   public void extendGearManipulatorPiston() {
 208     gearManipulatorPiston.set(Constants.DriveTrain.FORWARD_PISTON_VALUE);
 209   }
 210
 211   public void retractGearManipulatorPiston() {
 212     gearManipulatorPiston.set(Constants.DriveTrain.REVERSE_PISTON_VALUE);
 213   }
 214
 215   @Override
 216   protected void initDefaultCommand() {
 217     setDefaultCommand(new JoystickDrive());
 218   }
 219 }