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