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