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   public PIDController getGyroController() {
  99     return this.gyroController;
 100   }
 101
 102   public static DriveTrain getDriveTrain() {
 103     if (driveTrain == null) {
 104       driveTrain = new DriveTrain();
 105     }
 106     return driveTrain;
 107   }
 108
 109   // DRIVE METHODS
 110   public void setMotorValues(final double left, final double right) {
 111     frontLeft.set(left);
 112     rearLeft.set(left);
 113
 114     frontRight.set(-right);
 115     rearRight.set(-right);
 116   }
 117
 118   public void joystickDrive(final double thrust, final double twist) {
 119     robotDrive.arcadeDrive(thrust, twist, true);
 120   }
 121
 122   public void stop() {
 123     setMotorValues(0, 0);
 124   }
 125
 126   public double getLeftMotorVal() {
 127     return (frontLeft.get() + rearLeft.get()) / 2;
 128   }
 129
 130   public double getRightMotorVal() {
 131     return (frontRight.get() + rearRight.get()) / 2;
 132   }
 133
 134   // ENCODER METHODS
 135
 136   public double getLeftEncoderDistance() {
 137     return leftEncoder.getDistance();
 138   }
 139
 140   public double getRightEncoderDistance() {
 141     return rightEncoder.getDistance();
 142   }
 143
 144   public void printEncoderOutput() {
 145     System.out.println("left: " + getLeftEncoderDistance());
 146     System.out.println("right: " + getRightEncoderDistance());
 147     // System.out.println(getAvgEncoderDistance());
 148   }
 149
 150   public double getAvgEncoderDistance() {
 151     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 152   }
 153
 154   public void resetEncoders() {
 155     leftEncoder.reset();
 156     rightEncoder.reset();
 157   }
 158
 159   public double getLeftSpeed() {
 160     return leftEncoder.getRate();
 161   }
 162
 163   public double getRightSpeed() {
 164     return rightEncoder.getRate();
 165   }
 166
 167   public double getSpeed() {
 168     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 169   }
 170
 171   // ------Gyro------//
 172   public double getAngle() {
 173     return this.imu.getAngle();
 174   }
 175
 176   public void resetGyro() {
 177     this.imu.reset();
 178   }
 179
 180   /*
 181    * @return a value that is the current setpoint for the piston kReverse or
 182    * KForward
 183    */
 184   public Value getLeftGearPistonValue() {
 185     return leftGearPiston.get();
 186   }
 187
 188   /*
 189    * @return a value that is the current setpoint for the piston kReverse or
 190    * KForward
 191    */
 192   public Value getRightGearPistonValue() {
 193     return rightGearPiston.get();
 194   }
 195
 196   /*
 197    * Changes the ball shift gear assembly to high
 198    */
 199   public void setHighGear() {
 200     changeGear(Constants.DriveTrain.HIGH_GEAR);
 201   }
 202
 203   /*
 204    * Changes the ball shift gear assembly to low
 205    */
 206   public void setLowGear() {
 207     changeGear(Constants.DriveTrain.LOW_GEAR);
 208   }
 209
 210   /*
 211    * Changes the gear to a DoubleSolenoid.Value
 212    */
 213   private void changeGear(DoubleSolenoid.Value gear) {
 214     leftGearPiston.set(gear);
 215     rightGearPiston.set(gear);
 216   }
 217
 218   @Override
 219   protected void initDefaultCommand() {
 220     setDefaultCommand(new JoystickDrive());
 221   }
 222 }