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 turnP = 0.004, turnI = 0.0013, turnD = -0.005;
  18   public static double driveStraightGyroP = 0.01;
  19
  20   public static final double WHEEL_DIAMETER = 6; // inches
  21   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  22   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  23       / ENCODER_PULSES_PER_REVOLUTION;
  24   public static final int MAINTAIN_CLIMBED_POSITION = 0;
  25   public static final int TIME_TO_CLIMB_FOR = 0;
  26   private static DriveTrain driveTrain;
  27
  28   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  29   private final RobotDrive robotDrive;
  30   private final Encoder leftEncoder, rightEncoder;
  31   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  32
  33   private ADXRS450_Gyro imu;
  34
  35   private boolean isClimbing;
  36   private static double CLIMBER_SPEED;;
  37
  38   private DriveTrain() {
  39     // MOTOR CONTROLLERS
  40     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  41     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  42     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  43     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  44
  45     // ENCODERS
  46     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  47         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  48     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  49         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  50
  51     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  52     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  53
  54     // ROBOT DRIVE
  55     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  56
  57     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  58
  59     // TODO: Not sure if MODULE_NUMBER should be the same for both
  60     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  61         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  62         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  63     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  64         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  65         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  66
  67     CLIMBER_SPEED = Constants.DriveTrain.CLIMBER_SPEED;
  68   }
  69
  70   public static DriveTrain getDriveTrain() {
  71     if (driveTrain == null) {
  72       driveTrain = new DriveTrain();
  73     }
  74     return driveTrain;
  75   }
  76
  77   // DRIVE METHODS
  78   public void setMotorValues(final double left, final double right) {
  79     frontLeft.set(left);
  80     rearLeft.set(left);
  81
  82     frontRight.set(-right);
  83     rearRight.set(-right);
  84     this.isClimbing = true;
  85   }
  86
  87   public void joystickDrive(final double thrust, final double twist) {
  88     robotDrive.arcadeDrive(thrust, twist, true);
  89   }
  90
  91   public void stop() {
  92     setMotorValues(0, 0);
  93     this.isClimbing = false;
  94   }
  95
  96   public double getLeftMotorVal() {
  97     return (frontLeft.get() + rearLeft.get()) / 2;
  98   }
  99
 100   public double getRightMotorVal() {
 101     return (frontRight.get() + rearRight.get()) / 2;
 102   }
 103
 104   // ENCODER METHODS
 105
 106   public double getLeftEncoderDistance() {
 107     return leftEncoder.getDistance();
 108   }
 109
 110   public double getRightEncoderDistance() {
 111     return rightEncoder.getDistance();
 112   }
 113
 114   public void printEncoderOutput() {
 115     System.out.println("left: " + getLeftEncoderDistance());
 116     System.out.println("right: " + getRightEncoderDistance());
 117     // System.out.println(getAvgEncoderDistance());
 118   }
 119
 120   public double getAvgEncoderDistance() {
 121     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 122   }
 123
 124   public void resetEncoders() {
 125     leftEncoder.reset();
 126     rightEncoder.reset();
 127   }
 128
 129   public double getLeftSpeed() {
 130     return leftEncoder.getRate();
 131   }
 132
 133   public double getRightSpeed() {
 134     return rightEncoder.getRate();
 135   }
 136
 137   public double getSpeed() {
 138     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 139   }
 140
 141   // ------Gyro------//
 142   public double getAngle() {
 143     return this.imu.getAngle();
 144   }
 145
 146   public void resetGyro() {
 147     this.imu.reset();
 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   public boolean isClimbing() {
 194     return this.isClimbing;
 195   }
 196
 197   public void setClimbing(boolean isClimbing) {
 198     this.isClimbing = isClimbing;
 199   }
 200
 201   public double getClimbingSpeed() {
 202     return this.CLIMBER_SPEED;
 203   }
 204
 205 }