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