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
  26   private static DriveTrain driveTrain;
  27   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  28   private final RobotDrive robotDrive;
  29   private final Encoder leftEncoder, rightEncoder;
  30   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  31
  32   private ADXRS450_Gyro imu;
  33
  34   private DriveTrain() {
  35     // MOTOR CONTROLLERS
  36     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  37     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  38     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  39     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  40
  41     // ENCODERS
  42     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  43         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  44     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  45         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  46
  47     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  48     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  49
  50     // ROBOT DRIVE
  51     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  52
  53     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  54
  55     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  56         Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
  57     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  58         Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
  59   }
  60
  61   public static DriveTrain getDriveTrain() {
  62     if (driveTrain == null) {
  63       driveTrain = new DriveTrain();
  64     }
  65     return driveTrain;
  66   }
  67
  68   // DRIVE METHODS
  69   public void setMotorValues(final double left, final double right) {
  70     frontLeft.set(left);
  71     rearLeft.set(left);
  72
  73     frontRight.set(-right);
  74     rearRight.set(-right);
  75   }
  76
  77   public void joystickDrive(final double thrust, final double twist) {
  78     robotDrive.arcadeDrive(thrust, twist, true);
  79   }
  80
  81   public void stop() {
  82     setMotorValues(0, 0);
  83   }
  84
  85   public double getLeftMotorVal() {
  86     return (frontLeft.get() + rearLeft.get()) / 2;
  87   }
  88
  89   public double getRightMotorVal() {
  90     return (frontRight.get() + rearRight.get()) / 2;
  91   }
  92
  93   // ENCODER METHODS
  94
  95   public double getLeftEncoderDistance() {
  96     return leftEncoder.getDistance();
  97   }
  98
  99   public double getRightEncoderDistance() {
 100     return rightEncoder.getDistance();
 101   }
 102
 103   public void printEncoderOutput() {
 104     // System.out.println("left: " + getLeftEncoderDistance());
 105     // System.out.println("right: " + getRightEncoderDistance());
 106     System.out.println(getAvgEncoderDistance());
 107     System.out.println("left: " + getLeftEncoderDistance());
 108     System.out.println("right: " + getRightEncoderDistance());
 109   }
 110
 111   public double getAvgEncoderDistance() {
 112     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 113   }
 114
 115   public void resetEncoders() {
 116     leftEncoder.reset();
 117     rightEncoder.reset();
 118   }
 119
 120   public double getLeftSpeed() {
 121     return leftEncoder.getRate();
 122   }
 123
 124   public double getRightSpeed() {
 125     return rightEncoder.getRate();
 126   }
 127
 128   public double getSpeed() {
 129     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 130   }
 131
 132   // ------Gyro------//
 133   public double getAngle() {
 134     return this.imu.getAngle() - this.gyroZero;
 135   }
 136
 137   public void resetGyro() {
 138     this.imu.reset();
 139   }
 140
 141   public double getZeroAngle() {
 142     return this.gyroZero;
 143   }
 144
 145   /*
 146    * @return a value that is the current setpoint for the piston kReverse or
 147    * KForward
 148    */
 149   public Value getLeftGearPistonValue() {
 150     return leftGearPiston.get();
 151   }
 152
 153   /*
 154    * @return a value that is the current setpoint for the piston kReverse or
 155    * KForward
 156    */
 157   public Value getRightGearPistonValue() {
 158     return rightGearPiston.get();
 159   }
 160
 161   /*
 162    * Changes the ball shift gear assembly to high
 163    */
 164   public void setHighGear() {
 165     changeGear(Constants.DriveTrain.HIGH_GEAR);
 166   }
 167
 168   /*
 169    * Changes the ball shift gear assembly to low
 170    */
 171   public void setLowGear() {
 172     changeGear(Constants.DriveTrain.LOW_GEAR);
 173   }
 174
 175   /*
 176    * Changes the gear to a DoubleSolenoid.Value
 177    */
 178   private void changeGear(DoubleSolenoid.Value gear) {
 179     leftGearPiston.set(gear);
 180     rightGearPiston.set(gear);
 181   }
 182
 183   @Override
 184   protected void initDefaultCommand() {
 185     setDefaultCommand(new JoystickDrive());
 186   }
 187
 188 }