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   public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
  20   public static double driveStraightGyroP = 0.01;
  21
  22   public static final double WHEEL_DIAMETER = 6; // inches
  23   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  24   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  25       / ENCODER_PULSES_PER_REVOLUTION;
  26
  27   public static final double MAINTAIN_CLIMBED_POSITION = 0;
  28   public static final double TIME_TO_CLIMB_FOR = 0;
  29   public static final double CLIMBER_SPEED = 0;
  30
  31   private static DriveTrain driveTrain;
  32
  33   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  34   private final RobotDrive robotDrive;
  35   private final Encoder leftEncoder, rightEncoder;
  36   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  37
  38   private ADXRS450_Gyro imu;
  39
  40   public boolean shouldBeClimbing = false;
  41
  42   private PIDController driveController;
  43
  44   private DriveTrain() {
  45
  46     driveController = new PIDController(driveP, driveI, driveD);
  47
  48     // MOTOR CONTROLLERS
  49     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  50     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  51     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  52     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  53
  54     // ENCODERS
  55     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  56         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  57     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  58         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  59
  60     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  61     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  62
  63     // ROBOT DRIVE
  64     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  65
  66     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  67
  68     // TODO: Not sure if MODULE_NUMBER should be the same for both
  69     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  70         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  71         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  72     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  73         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  74         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  75   }
  76
  77   public PIDController getDriveController() {
  78     return this.driveController;
  79   }
  80
  81   public static DriveTrain getDriveTrain() {
  82     if (driveTrain == null) {
  83       driveTrain = new DriveTrain();
  84     }
  85     return driveTrain;
  86   }
  87
  88   // DRIVE METHODS
  89   public void setMotorValues(final double left, final double right) {
  90     frontLeft.set(left);
  91     rearLeft.set(left);
  92
  93     frontRight.set(-right);
  94     rearRight.set(-right);
  95   }
  96
  97   public void joystickDrive(final double thrust, final double twist) {
  98     robotDrive.arcadeDrive(thrust, twist, true);
  99   }
 100
 101   public void stop() {
 102     setMotorValues(0, 0);
 103   }
 104
 105   public double getLeftMotorVal() {
 106     return (frontLeft.get() + rearLeft.get()) / 2;
 107   }
 108
 109   public double getRightMotorVal() {
 110     return (frontRight.get() + rearRight.get()) / 2;
 111   }
 112
 113   // ENCODER METHODS
 114
 115   public double getLeftEncoderDistance() {
 116     return leftEncoder.getDistance();
 117   }
 118
 119   public double getRightEncoderDistance() {
 120     return rightEncoder.getDistance();
 121   }
 122
 123   public void printEncoderOutput() {
 124     System.out.println("left: " + getLeftEncoderDistance());
 125     System.out.println("right: " + getRightEncoderDistance());
 126     // System.out.println(getAvgEncoderDistance());
 127   }
 128
 129   public double getAvgEncoderDistance() {
 130     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 131   }
 132
 133   public void resetEncoders() {
 134     leftEncoder.reset();
 135     rightEncoder.reset();
 136   }
 137
 138   public double getLeftSpeed() {
 139     return leftEncoder.getRate();
 140   }
 141
 142   public double getRightSpeed() {
 143     return rightEncoder.getRate();
 144   }
 145
 146   public double getSpeed() {
 147     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 148   }
 149
 150   // ------Gyro------//
 151   public double getAngle() {
 152     return this.imu.getAngle();
 153   }
 154
 155   public void resetGyro() {
 156     this.imu.reset();
 157   }
 158
 159   /*
 160    * @return a value that is the current setpoint for the piston kReverse or
 161    * KForward
 162    */
 163   public Value getLeftGearPistonValue() {
 164     return leftGearPiston.get();
 165   }
 166
 167   /*
 168    * @return a value that is the current setpoint for the piston kReverse or
 169    * KForward
 170    */
 171   public Value getRightGearPistonValue() {
 172     return rightGearPiston.get();
 173   }
 174
 175   /*
 176    * Changes the ball shift gear assembly to high
 177    */
 178   public void setHighGear() {
 179     changeGear(Constants.DriveTrain.HIGH_GEAR);
 180   }
 181
 182   /*
 183    * Changes the ball shift gear assembly to low
 184    */
 185   public void setLowGear() {
 186     changeGear(Constants.DriveTrain.LOW_GEAR);
 187   }
 188
 189   /*
 190    * Changes the gear to a DoubleSolenoid.Value
 191    */
 192   private void changeGear(DoubleSolenoid.Value gear) {
 193     leftGearPiston.set(gear);
 194     rightGearPiston.set(gear);
 195   }
 196
 197   @Override
 198   protected void initDefaultCommand() {
 199     setDefaultCommand(new JoystickDrive());
 200   }
 201 }