1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
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
;
7 import com
.ctre
.CANTalon
;
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
;
16 public class DriveTrain
extends Subsystem
{
18 public static double driveP
, driveI
, driveD
;
19 public static double turnP
, turnI
, turnD
;
21 public static double driveStraightGyroP
= 0.01;
23 public static final double WHEEL_DIAMETER
= 6; // inches
24 public static final int ENCODER_PULSES_PER_REVOLUTION
= 256;
25 public static final double INCHES_PER_PULSE
= WHEEL_DIAMETER
* Math
.PI
26 / ENCODER_PULSES_PER_REVOLUTION
;
28 public static final double MAINTAIN_CLIMBED_POSITION
= 0;
29 public static final double TIME_TO_CLIMB_FOR
= 0;
30 public static final double CLIMBER_SPEED
= 0;
32 private static DriveTrain driveTrain
;
34 private final CANTalon frontLeft
, frontRight
, rearLeft
, rearRight
;
35 private final RobotDrive robotDrive
;
36 private final Encoder leftEncoder
, rightEncoder
;
37 private final DoubleSolenoid leftGearPiston
, rightGearPiston
;
39 private ADXRS450_Gyro imu
;
41 public boolean shouldBeClimbing
= false;
43 private PIDController driveController
;
44 private PIDController gyroController
;
46 private DriveTrain() {
48 driveController
= new PIDController(driveP
, driveI
, driveD
);
49 gyroController
= new PIDController(turnP
, turnI
, turnD
);
53 public static final String DRIVE_P_Val
= "DriveP";
54 public static final String DRIVE_I_Val
= "DriveI";
55 public static final String DRIVE_D_Val
= "DriveD";
56 public static final String DRIVE_TARGET_DIST
= "SET_DIST";
57 public static final String DRIVE_MOTOR_VAL
= "SPEED";
58 public static final String GYRO_P_Val
= "GyroP";
59 public static final String GYRO_I_Val
= "GyroI";
60 public static final String GYRO_D_Val
= "GyroD";
61 public static final String GYRO_TARGET_ANGLE
= "SET_ANGLE";
62 public static final int PID_ERROR
= -1;
63 public static final int TARGET_DISTANCE_ERROR
= -1;
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
);
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
);
77 leftEncoder
.setDistancePerPulse(INCHES_PER_PULSE
);
78 rightEncoder
.setDistancePerPulse(INCHES_PER_PULSE
);
81 robotDrive
= new RobotDrive(frontLeft
, rearLeft
, frontRight
, rearRight
);
83 this.imu
= new ADXRS450_Gyro(Constants
.DriveTrain
.GYRO_PORT
);
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
);
94 public PIDController
getDriveController() {
95 return this.driveController
;
98 public PIDController
getGyroController() {
99 return this.gyroController
;
102 public static DriveTrain
getDriveTrain() {
103 if (driveTrain
== null) {
104 driveTrain
= new DriveTrain();
110 public void setMotorValues(final double left
, final double right
) {
114 frontRight
.set(-right
);
115 rearRight
.set(-right
);
118 public void joystickDrive(final double thrust
, final double twist
) {
119 robotDrive
.arcadeDrive(thrust
, twist
, true);
123 setMotorValues(0, 0);
126 public double getLeftMotorVal() {
127 return (frontLeft
.get() + rearLeft
.get()) / 2;
130 public double getRightMotorVal() {
131 return (frontRight
.get() + rearRight
.get()) / 2;
136 public double getLeftEncoderDistance() {
137 return leftEncoder
.getDistance();
140 public double getRightEncoderDistance() {
141 return rightEncoder
.getDistance();
144 public void printEncoderOutput() {
145 System
.out
.println("left: " + getLeftEncoderDistance());
146 System
.out
.println("right: " + getRightEncoderDistance());
147 // System.out.println(getAvgEncoderDistance());
150 public double getAvgEncoderDistance() {
151 return (leftEncoder
.getDistance() + rightEncoder
.getDistance()) / 2;
154 public void resetEncoders() {
156 rightEncoder
.reset();
159 public double getLeftSpeed() {
160 return leftEncoder
.getRate();
163 public double getRightSpeed() {
164 return rightEncoder
.getRate();
167 public double getSpeed() {
168 return (getLeftSpeed() + getRightSpeed()) / 2.0;
171 // ------Gyro------//
172 public double getAngle() {
173 return this.imu
.getAngle();
176 public void resetGyro() {
181 * @return a value that is the current setpoint for the piston kReverse or
184 public Value
getLeftGearPistonValue() {
185 return leftGearPiston
.get();
189 * @return a value that is the current setpoint for the piston kReverse or
192 public Value
getRightGearPistonValue() {
193 return rightGearPiston
.get();
197 * Changes the ball shift gear assembly to high
199 public void setHighGear() {
200 changeGear(Constants
.DriveTrain
.HIGH_GEAR
);
204 * Changes the ball shift gear assembly to low
206 public void setLowGear() {
207 changeGear(Constants
.DriveTrain
.LOW_GEAR
);
211 * Changes the gear to a DoubleSolenoid.Value
213 private void changeGear(DoubleSolenoid
.Value gear
) {
214 leftGearPiston
.set(gear
);
215 rightGearPiston
.set(gear
);
219 protected void initDefaultCommand() {
220 setDefaultCommand(new JoystickDrive());