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   public static final int MAINTAIN_CLIMBED_POSITION = 1;
  26   private static DriveTrain driveTrain;
  27
  28   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  29   private final RobotDrive robotDrive;
  30   private final Encoder leftEncoder, rightEncoder;
  31   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  32
  33   private ADXRS450_Gyro imu;
  34
  35   private DriveTrain() {
  36     // MOTOR CONTROLLERS
  37     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  38     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  39     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  40     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  41
  42     // ENCODERS
  43     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  44         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  45     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  46         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  47
  48     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  49     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  50
  51     // ROBOT DRIVE
  52     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  53
  54     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  55
  56     // TODO: Not sure if MODULE_NUMBER should be the same for both
  57     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  58         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  59         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  60     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  61         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  62         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  63   }
  64
  65   public static DriveTrain getDriveTrain() {
  66     if (driveTrain == null) {
  67       driveTrain = new DriveTrain();
  68     }
  69     return driveTrain;
  70   }
  71
  72   // DRIVE METHODS
  73   public void setMotorValues(final double left, final double right) {
  74     frontLeft.set(left);
  75     rearLeft.set(left);
  76
  77     frontRight.set(-right);
  78     rearRight.set(-right);
  79   }
  80
  81   public void joystickDrive(final double thrust, final double twist) {
  82     robotDrive.arcadeDrive(thrust, twist, true);
  83   }
  84
  85   public void stop() {
  86     setMotorValues(0, 0);
  87   }
  88
  89   public double getLeftMotorVal() {
  90     return (frontLeft.get() + rearLeft.get()) / 2;
  91   }
  92
  93   public double getRightMotorVal() {
  94     return (frontRight.get() + rearRight.get()) / 2;
  95   }
  96
  97   // ENCODER METHODS
  98
  99   public double getLeftEncoderDistance() {
 100     return leftEncoder.getDistance();
 101   }
 102
 103   public double getRightEncoderDistance() {
 104     return rightEncoder.getDistance();
 105   }
 106
 107   public void printEncoderOutput() {
 108     // System.out.println("left: " + getLeftEncoderDistance());
 109     // System.out.println("right: " + getRightEncoderDistance());
 110     System.out.println(getAvgEncoderDistance());
 111     System.out.println("left: " + getLeftEncoderDistance());
 112     System.out.println("right: " + getRightEncoderDistance());
 113   }
 114
 115   public double getAvgEncoderDistance() {
 116     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 117   }
 118
 119   public void resetEncoders() {
 120     leftEncoder.reset();
 121     rightEncoder.reset();
 122   }
 123
 124   public double getLeftSpeed() {
 125     return leftEncoder.getRate();
 126   }
 127
 128   public double getRightSpeed() {
 129     return rightEncoder.getRate();
 130   }
 131
 132   public double getSpeed() {
 133     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 134   }
 135
 136   // ------Gyro------//
 137   public double getAngle() {
 138     return this.imu.getAngle() - this.gyroZero;
 139   }
 140
 141   public void resetGyro() {
 142     this.imu.reset();
 143   }
 144
 145   public double getZeroAngle() {
 146     return this.gyroZero;
 147   }
 148
 149   /*
 150    * @return a value that is the current setpoint for the piston kReverse or
 151    * KForward
 152    */
 153   public Value getLeftGearPistonValue() {
 154     return leftGearPiston.get();
 155   }
 156
 157   /*
 158    * @return a value that is the current setpoint for the piston kReverse or
 159    * KForward
 160    */
 161   public Value getRightGearPistonValue() {
 162     return rightGearPiston.get();
 163   }
 164
 165   /*
 166    * Changes the ball shift gear assembly to high
 167    */
 168   public void setHighGear() {
 169     changeGear(Constants.DriveTrain.HIGH_GEAR);
 170   }
 171
 172   /*
 173    * Changes the ball shift gear assembly to low
 174    */
 175   public void setLowGear() {
 176     changeGear(Constants.DriveTrain.LOW_GEAR);
 177   }
 178
 179   /*
 180    * Changes the gear to a DoubleSolenoid.Value
 181    */
 182   private void changeGear(DoubleSolenoid.Value gear) {
 183     leftGearPiston.set(gear);
 184     rightGearPiston.set(gear);
 185   }
 186
 187   @Override
 188   protected void initDefaultCommand() {
 189     setDefaultCommand(new JoystickDrive());
 190   }
 191
 192 }