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