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