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 = 0.004, turnI = 0.0013, turnD = -0.005;
  20   public static double driveStraightGyroP = 0.01;
  21
  22   public static final double WHEEL_DIAMETER = 6; // inches
  23   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  24   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  25       / ENCODER_PULSES_PER_REVOLUTION;
  26
  27   public static final double MAINTAIN_CLIMBED_POSITION = 0;
  28   public static final double TIME_TO_CLIMB_FOR = 0;
  29   public static final double CLIMBER_SPEED = 0;
  30
  31   private static DriveTrain driveTrain;
  32
  33   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  34   private final RobotDrive robotDrive;
  35   private final Encoder leftEncoder, rightEncoder;
  36   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  37
  38   private ADXRS450_Gyro imu;
  39
  40   public boolean shouldBeClimbing = false;
  41
  42   private PIDController driveController;
  43   private PIDController gyroController;
  44
  45   private DriveTrain() {
  46
  47     driveController = new PIDController(driveP, driveI, driveD);
  48
  49     // MOTOR CONTROLLERS
  50     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  51     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  52     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  53     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  54
  55     // ENCODERS
  56     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  57         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  58     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  59         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  60
  61     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  62     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  63
  64     // ROBOT DRIVE
  65     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  66
  67     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  68
  69     // TODO: Not sure if MODULE_NUMBER should be the same for both
  70     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  71         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  72         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  73     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  74         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  75         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  76   }
  77
  78   public PIDController getDriveController() {
  79     return this.driveController;
  80   }
  81
  82   public static DriveTrain getDriveTrain() {
  83     if (driveTrain == null) {
  84       driveTrain = new DriveTrain();
  85     }
  86     return driveTrain;
  87   }
  88
  89   // DRIVE METHODS
  90   public void setMotorValues(final double left, final double right) {
  91     frontLeft.set(left);
  92     rearLeft.set(left);
  93
  94     frontRight.set(-right);
  95     rearRight.set(-right);
  96   }
  97
  98   public void joystickDrive(final double thrust, final double twist) {
  99     robotDrive.arcadeDrive(thrust, twist, true);
 100   }
 101
 102   public void stop() {
 103     setMotorValues(0, 0);
 104   }
 105
 106   public double getLeftMotorVal() {
 107     return (frontLeft.get() + rearLeft.get()) / 2;
 108   }
 109
 110   public double getRightMotorVal() {
 111     return (frontRight.get() + rearRight.get()) / 2;
 112   }
 113
 114   // ENCODER METHODS
 115
 116   public double getLeftEncoderDistance() {
 117     return leftEncoder.getDistance();
 118   }
 119
 120   public double getRightEncoderDistance() {
 121     return rightEncoder.getDistance();
 122   }
 123
 124   public void printEncoderOutput() {
 125     System.out.println("left: " + getLeftEncoderDistance());
 126     System.out.println("right: " + getRightEncoderDistance());
 127     // System.out.println(getAvgEncoderDistance());
 128   }
 129
 130   public double getAvgEncoderDistance() {
 131     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 132   }
 133
 134   public void resetEncoders() {
 135     leftEncoder.reset();
 136     rightEncoder.reset();
 137   }
 138
 139   public double getLeftSpeed() {
 140     return leftEncoder.getRate();
 141   }
 142
 143   public double getRightSpeed() {
 144     return rightEncoder.getRate();
 145   }
 146
 147   public double getSpeed() {
 148     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 149   }
 150
 151   // ------Gyro------//
 152   public double getAngle() {
 153     return this.imu.getAngle();
 154   }
 155
 156   public void resetGyro() {
 157     this.imu.reset();
 158   }
 159
 160   /*
 161    * @return a value that is the current setpoint for the piston kReverse or
 162    * KForward
 163    */
 164   public Value getLeftGearPistonValue() {
 165     return leftGearPiston.get();
 166   }
 167
 168   /*
 169    * @return a value that is the current setpoint for the piston kReverse or
 170    * KForward
 171    */
 172   public Value getRightGearPistonValue() {
 173     return rightGearPiston.get();
 174   }
 175
 176   /*
 177    * Changes the ball shift gear assembly to high
 178    */
 179   public void setHighGear() {
 180     changeGear(Constants.DriveTrain.HIGH_GEAR);
 181   }
 182
 183   /*
 184    * Changes the ball shift gear assembly to low
 185    */
 186   public void setLowGear() {
 187     changeGear(Constants.DriveTrain.LOW_GEAR);
 188   }
 189
 190   /*
 191    * Changes the gear to a DoubleSolenoid.Value
 192    */
 193   private void changeGear(DoubleSolenoid.Value gear) {
 194     leftGearPiston.set(gear);
 195     rightGearPiston.set(gear);
 196   }
 197
 198   @Override
 199   protected void initDefaultCommand() {
 200     setDefaultCommand(new JoystickDrive());
 201   }
 202 }