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.ADXRS450_Gyro;
   9 import edu.wpi.first.wpilibj.DoubleSolenoid;
  10 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
  11 import edu.wpi.first.wpilibj.Encoder;
  12 import edu.wpi.first.wpilibj.RobotDrive;
  13 import edu.wpi.first.wpilibj.command.Subsystem;
  14
  15 public class DriveTrain extends Subsystem {
  16   public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
  17   public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
  18       defaultGyroD = -0.005;
  19   private double gyroZero = 0;
  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   private static DriveTrain driveTrain;
  27   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  28   private final RobotDrive robotDrive;
  29   private final Encoder leftEncoder, rightEncoder;
  30   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  31
  32   private ADXRS450_Gyro imu;
  33
  34   private DriveTrain() {
  35     // MOTOR CONTROLLERS
  36     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  37     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  38     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  39     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  40
  41     // ENCODERS
  42     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  43         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  44     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  45         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  46
  47     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  48     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  49
  50     // ROBOT DRIVE
  51     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  52
  53     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  54     shifter = DoubleSolenoid(10, Constants.DriveTrain.SHIFTER_FORWARD,
  55         Constants.DriveTrain.SHIFTER_REVERSE);
  56     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  57         Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
  58     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  59         Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
  60   }
  61
  62   public static DriveTrain getDriveTrain() {
  63     if (driveTrain == null) {
  64       driveTrain = new DriveTrain();
  65     }
  66     return driveTrain;
  67   }
  68
  69   // DRIVE METHODS
  70   public void setMotorValues(final double left, final double right) {
  71     frontLeft.set(left);
  72     rearLeft.set(left);
  73
  74     frontRight.set(-right);
  75     rearRight.set(-right);
  76   }
  77
  78   public void joystickDrive(final double thrust, final double twist) {
  79     robotDrive.arcadeDrive(thrust, twist, true);
  80   }
  81
  82   public void stop() {
  83     setMotorValues(0, 0);
  84   }
  85
  86   public double getLeftMotorVal() {
  87     return (frontLeft.get() + rearLeft.get()) / 2;
  88   }
  89
  90   public double getRightMotorVal() {
  91     return (frontRight.get() + rearRight.get()) / 2;
  92   }
  93
  94   // ENCODER METHODS
  95
  96   public double getLeftEncoderDistance() {
  97     return leftEncoder.getDistance();
  98   }
  99
 100   public double getRightEncoderDistance() {
 101     return rightEncoder.getDistance();
 102   }
 103
 104   public void printEncoderOutput() {
 105     // System.out.println("left: " + getLeftEncoderDistance());
 106     // System.out.println("right: " + getRightEncoderDistance());
 107     System.out.println(getAvgEncoderDistance());
 108   }
 109
 110   public double getAvgEncoderDistance() {
 111     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 112   }
 113
 114   public void resetEncoders() {
 115     leftEncoder.reset();
 116     rightEncoder.reset();
 117   }
 118
 119   public double getLeftSpeed() {
 120     return leftEncoder.getRate();
 121   }
 122
 123   public double getRightSpeed() {
 124     return rightEncoder.getRate();
 125   }
 126
 127   public double getSpeed() {
 128     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 129   }
 130
 131   // ------Gyro------//
 132   public double getAngle() {
 133     return this.imu.getAngle() - this.gyroZero;
 134   }
 135
 136   public void resetGyro() {
 137     this.imu.reset();
 138   }
 139
 140   public double getZeroAngle() {
 141     return this.gyroZero;
 142   /*
 143    * @return a value that is the current setpoint for the piston kReverse or
 144    * KForward
 145    */
 146   public Value getLeftGearPistonValue() {
 147     return leftGearPiston.get();
 148   }
 149
 150   /*
 151    * @return a value that is the current setppoint for the piston kReverse or
 152    * kForward
 153    */
 154   public Value getRightGearPistonValue() {
 155     return rightGearPiston.get();
 156   }
 157
 158   /*
 159    * Changes the ball shift gear assembly to high
 160    */
 161   public void setHighGear() {
 162     changeGear(Constants.DriveTrain.HIGH_GEAR);
 163   }
 164
 165   /*
 166    * Changes the ball shift gear assembly to low
 167    */
 168   public void setLowGear() {
 169     changeGear(Constants.DriveTrain.LOW_GEAR);
 170   }
 171
 172   /*
 173    * Changes the gear to a DoubleSolenoid.Value
 174    */
 175   private void changeGear(DoubleSolenoid.Value gear) {
 176     leftGearPiston.set(gear);
 177     rightGearPiston.set(gear);
 178   }
 179
 180   @Override
 181   protected void initDefaultCommand() {
 182     setDefaultCommand(new JoystickDrive());
 183   }
 184
 185 }