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 import org.usfirst.frc.team3501.robot.utils.PIDController;
   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
  18   public static double driveP, driveI, driveD;
  19   public static double turnP, turnI, turnD;
  20
  21   public static double driveStraightGyroP = 0.01;
  22
  23   public static final String DRIVE_P_Val = "DriveP";
  24   public static final String DRIVE_I_Val = "DriveI";
  25   public static final String DRIVE_D_Val = "DriveD";
  26   public static final String DRIVE_TARGET_DIST = "SET_DIST";
  27   public static final String DRIVE_MOTOR_VAL = "SPEED";
  28   public static final String GYRO_P_Val = "GyroP";
  29   public static final String GYRO_I_Val = "GyroI";
  30   public static final String GYRO_D_Val = "GyroD";
  31   public static final String GYRO_TARGET_ANGLE = "SET_ANGLE";
  32   public static final int PID_ERROR = -1;
  33   public static final int TARGET_DISTANCE_ERROR = -1;
  34
  35   public static final double WHEEL_DIAMETER = 6; // inches
  36   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  37   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  38       / ENCODER_PULSES_PER_REVOLUTION;
  39
  40   public static final double MAINTAIN_CLIMBED_POSITION = 0;
  41   public static final double TIME_TO_CLIMB_FOR = 0;
  42   public static final double CLIMBER_SPEED = 0;
  43
  44   private static DriveTrain driveTrain;
  45
  46   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  47   private final RobotDrive robotDrive;
  48   private final Encoder leftEncoder, rightEncoder;
  49   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  50
  51   private ADXRS450_Gyro imu;
  52
  53   public boolean shouldBeClimbing = false;
  54
  55   private PIDController driveController;
  56   private PIDController gyroController;
  57
  58   private boolean isClimbing;
  59   private static double CLIMBER_SPEED;;
  60   public boolean shouldBeClimbing = false;
  61
  62   private DriveTrain() {
  63
  64     driveController = new PIDController(driveP, driveI, driveD);
  65     gyroController = new PIDController(turnP, turnI, turnD);
  66
  67     // PID TUNING
  68
  69     // MOTOR CONTROLLERS
  70     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  71     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  72     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  73     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  74
  75     // ENCODERS
  76     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  77         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  78     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  79         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  80
  81     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  82     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  83
  84     // ROBOT DRIVE
  85     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  86
  87     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  88
  89     // TODO: Not sure if MODULE_NUMBER should be the same for both
  90     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  91         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  92         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  93     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  94         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  95         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  96   }
  97
  98   public PIDController getDriveController() {
  99     return this.driveController;
 100   }
 101
 102   public PIDController getGyroController() {
 103     return this.gyroController;
 104   }
 105
 106   public static DriveTrain getDriveTrain() {
 107     if (driveTrain == null) {
 108       driveTrain = new DriveTrain();
 109     }
 110     return driveTrain;
 111   }
 112
 113   // DRIVE METHODS
 114   public void setMotorValues(final double left, final double right) {
 115     frontLeft.set(left);
 116     rearLeft.set(left);
 117
 118     frontRight.set(-right);
 119     rearRight.set(-right);
 120   }
 121
 122   public void joystickDrive(final double thrust, final double twist) {
 123     robotDrive.arcadeDrive(thrust, twist, true);
 124   }
 125
 126   public void stop() {
 127     setMotorValues(0, 0);
 128   }
 129
 130   public double getLeftMotorVal() {
 131     return (frontLeft.get() + rearLeft.get()) / 2;
 132   }
 133
 134   public double getRightMotorVal() {
 135     return (frontRight.get() + rearRight.get()) / 2;
 136   }
 137
 138   // ENCODER METHODS
 139
 140   public double getLeftEncoderDistance() {
 141     return leftEncoder.getDistance();
 142   }
 143
 144   public double getRightEncoderDistance() {
 145     return rightEncoder.getDistance();
 146   }
 147
 148   public void printEncoderOutput() {
 149     System.out.println("left: " + getLeftEncoderDistance());
 150     System.out.println("right: " + getRightEncoderDistance());
 151     // System.out.println(getAvgEncoderDistance());
 152   }
 153
 154   public double getAvgEncoderDistance() {
 155     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 156   }
 157
 158   public void resetEncoders() {
 159     leftEncoder.reset();
 160     rightEncoder.reset();
 161   }
 162
 163   public double getLeftSpeed() {
 164     return leftEncoder.getRate();
 165   }
 166
 167   public double getRightSpeed() {
 168     return rightEncoder.getRate();
 169   }
 170
 171   public double getSpeed() {
 172     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 173   }
 174
 175   // ------Gyro------//
 176   public double getAngle() {
 177     return this.imu.getAngle();
 178   }
 179
 180   public void resetGyro() {
 181     this.imu.reset();
 182   }
 183
 184   /*
 185    * @return a value that is the current setpoint for the piston kReverse or
 186    * KForward
 187    */
 188   public Value getLeftGearPistonValue() {
 189     return leftGearPiston.get();
 190   }
 191
 192   /*
 193    * @return a value that is the current setpoint for the piston kReverse or
 194    * KForward
 195    */
 196   public Value getRightGearPistonValue() {
 197     return rightGearPiston.get();
 198   }
 199
 200   /*
 201    * Changes the ball shift gear assembly to high
 202    */
 203   public void setHighGear() {
 204     changeGear(Constants.DriveTrain.HIGH_GEAR);
 205   }
 206
 207   /*
 208    * Changes the ball shift gear assembly to low
 209    */
 210   public void setLowGear() {
 211     changeGear(Constants.DriveTrain.LOW_GEAR);
 212   }
 213
 214   /*
 215    * Changes the gear to a DoubleSolenoid.Value
 216    */
 217   private void changeGear(DoubleSolenoid.Value gear) {
 218     leftGearPiston.set(gear);
 219     rightGearPiston.set(gear);
 220   }
 221
 222   @Override
 223   protected void initDefaultCommand() {
 224     setDefaultCommand(new JoystickDrive());
 225   }
 226 }