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 = 0.012, driveI = 0.0011, 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   public static final double MAINTAIN_CLIMBED_POSITION = 0;
  29   public static final double TIME_TO_CLIMB_FOR = 0;
  30   public static final double CLIMBER_SPEED = 0;
  31
  32   private static DriveTrain driveTrain;
  33
  34   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  35   private final RobotDrive robotDrive;
  36   private final Encoder leftEncoder, rightEncoder;
  37   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  38
  39   private ADXRS450_Gyro imu;
  40
  41   public boolean shouldBeClimbing = false;
  42
  43   private DriveTrain() {
  44     // MOTOR CONTROLLERS
  45     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  46     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  47     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  48     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  49
  50     // ENCODERS
  51     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  52         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  53     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  54         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  55
  56     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  57     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  58
  59     // ROBOT DRIVE
  60     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  61
  62     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  63
  64     // TODO: Not sure if MODULE_NUMBER should be the same for both
  65     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  66         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  67         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  68     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  69         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  70         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  71   }
  72
  73   public static DriveTrain getDriveTrain() {
  74     if (driveTrain == null) {
  75       driveTrain = new DriveTrain();
  76     }
  77     return driveTrain;
  78   }
  79
  80   // DRIVE METHODS
  81   public void setMotorValues(double left, double right) {
  82     left = MathLib.restrictToRange(left, -1.0, 1.0);
  83     right = MathLib.restrictToRange(right, -1.0, 1.0);
  84
  85     frontLeft.set(left);
  86     rearLeft.set(left);
  87
  88     frontRight.set(-right);
  89     rearRight.set(-right);
  90   }
  91
  92   public void joystickDrive(final double thrust, final double twist) {
  93     robotDrive.arcadeDrive(thrust, twist, true);
  94   }
  95
  96   public void stop() {
  97     setMotorValues(0, 0);
  98   }
  99
 100   public double getLeftMotorVal() {
 101     return (frontLeft.get() + rearLeft.get()) / 2;
 102   }
 103
 104   public double getRightMotorVal() {
 105     return (frontRight.get() + rearRight.get()) / 2;
 106   }
 107
 108   // ENCODER METHODS
 109
 110   public double getLeftEncoderDistance() {
 111     return leftEncoder.getDistance();
 112   }
 113
 114   public double getRightEncoderDistance() {
 115     return rightEncoder.getDistance();
 116   }
 117
 118   public void printEncoderOutput() {
 119     System.out.println("left: " + getLeftEncoderDistance());
 120     System.out.println("right: " + getRightEncoderDistance());
 121     // System.out.println(getAvgEncoderDistance());
 122   }
 123
 124   public double getAvgEncoderDistance() {
 125     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 126   }
 127
 128   public void resetEncoders() {
 129     leftEncoder.reset();
 130     rightEncoder.reset();
 131   }
 132
 133   public double getLeftSpeed() {
 134     return leftEncoder.getRate();
 135   }
 136
 137   public double getRightSpeed() {
 138     return rightEncoder.getRate();
 139   }
 140
 141   public double getSpeed() {
 142     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 143   }
 144
 145   // ------Gyro------//
 146   public double getAngle() {
 147     return this.imu.getAngle();
 148   }
 149
 150   public void resetGyro() {
 151     this.imu.reset();
 152   }
 153
 154   /*
 155    * @return a value that is the current setpoint for the piston kReverse or
 156    * KForward
 157    */
 158   public Value getLeftGearPistonValue() {
 159     return leftGearPiston.get();
 160   }
 161
 162   /*
 163    * @return a value that is the current setpoint for the piston kReverse or
 164    * KForward
 165    */
 166   public Value getRightGearPistonValue() {
 167     return rightGearPiston.get();
 168   }
 169
 170   /*
 171    * Changes the ball shift gear assembly to high
 172    */
 173   public void setHighGear() {
 174     changeGear(Constants.DriveTrain.HIGH_GEAR);
 175   }
 176
 177   /*
 178    * Changes the ball shift gear assembly to low
 179    */
 180   public void setLowGear() {
 181     changeGear(Constants.DriveTrain.LOW_GEAR);
 182   }
 183
 184   /*
 185    * Changes the gear to a DoubleSolenoid.Value
 186    */
 187   private void changeGear(DoubleSolenoid.Value gear) {
 188     System.out.println(gear);
 189     leftGearPiston.set(gear);
 190     rightGearPiston.set(gear);
 191   }
 192
 193   @Override
 194   protected void initDefaultCommand() {
 195     setDefaultCommand(new JoystickDrive());
 196   }
 197 }