1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
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
;
7 import com
.ctre
.CANTalon
;
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
;
16 public class DriveTrain
extends Subsystem
{
17 public static double driveP
, driveI
, driveD
;
18 public static double turnP
, turnI
, turnD
;
19 public static double driveStraightGyroP
= 0.01;
21 public static final String DRIVE_P_Val
= "DriveP";
22 public static final String DRIVE_I_Val
= "DriveI";
23 public static final String DRIVE_D_Val
= "DriveD";
24 public static final String DRIVE_TARGET_DIST
= "SET_DIST";
25 public static final String DRIVE_MOTOR_VAL
= "SPEED";
26 public static final String GYRO_P_Val
= "GyroP";
27 public static final String GYRO_I_Val
= "GyroI";
28 public static final String GYRO_D_Val
= "GyroD";
29 public static final String GYRO_TARGET_ANGLE
= "SET_ANGLE";
30 public static final int PID_ERROR
= -1;
31 public static final int TARGET_DISTANCE_ERROR
= -1;
33 public static final double WHEEL_DIAMETER
= 6; // inches
34 public static final int ENCODER_PULSES_PER_REVOLUTION
= 256;
35 public static final double INCHES_PER_PULSE
= WHEEL_DIAMETER
* Math
.PI
36 / ENCODER_PULSES_PER_REVOLUTION
;
38 public static final double MAINTAIN_CLIMBED_POSITION
= 0;
39 public static final double TIME_TO_CLIMB_FOR
= 0;
40 public static final double CLIMBER_SPEED
= 0;
42 private static DriveTrain driveTrain
;
44 private final CANTalon frontLeft
, frontRight
, rearLeft
, rearRight
;
45 private final RobotDrive robotDrive
;
46 private final Encoder leftEncoder
, rightEncoder
;
47 private final DoubleSolenoid leftGearPiston
, rightGearPiston
;
49 private ADXRS450_Gyro imu
;
51 public boolean shouldBeClimbing
= false;
53 private PIDController driveController
;
54 private PIDController gyroController
;
56 private boolean isClimbing
;
58 private DriveTrain() {
61 driveController
= new PIDController(driveP
, driveI
, driveD
);
62 gyroController
= new PIDController(turnP
, turnI
, turnD
);
66 public static final String DRIVE_P_Val
= "DriveP";
67 public static final String DRIVE_I_Val
= "DriveI";
68 public static final String DRIVE_D_Val
= "DriveD";
69 public static final String DRIVE_TARGET_DIST
= "SET_DIST";
70 public static final String DRIVE_MOTOR_VAL
= "SPEED";
71 public static final String GYRO_P_Val
= "GyroP";
72 public static final String GYRO_I_Val
= "GyroI";
73 public static final String GYRO_D_Val
= "GyroD";
74 public static final String GYRO_TARGET_ANGLE
= "SET_ANGLE";
75 public static final int PID_ERROR
= -1;
76 public static final int TARGET_DISTANCE_ERROR
= -1;
79 frontLeft
= new CANTalon(Constants
.DriveTrain
.FRONT_LEFT
);
80 frontRight
= new CANTalon(Constants
.DriveTrain
.FRONT_RIGHT
);
81 rearLeft
= new CANTalon(Constants
.DriveTrain
.REAR_LEFT
);
82 rearRight
= new CANTalon(Constants
.DriveTrain
.REAR_RIGHT
);
85 leftEncoder
= new Encoder(Constants
.DriveTrain
.ENCODER_LEFT_A
,
86 Constants
.DriveTrain
.ENCODER_LEFT_B
, false, Encoder
.EncodingType
.k4X
);
87 rightEncoder
= new Encoder(Constants
.DriveTrain
.ENCODER_RIGHT_A
,
88 Constants
.DriveTrain
.ENCODER_RIGHT_B
, false, Encoder
.EncodingType
.k4X
);
90 leftEncoder
.setDistancePerPulse(INCHES_PER_PULSE
);
91 rightEncoder
.setDistancePerPulse(INCHES_PER_PULSE
);
94 robotDrive
= new RobotDrive(frontLeft
, rearLeft
, frontRight
, rearRight
);
96 this.imu
= new ADXRS450_Gyro(Constants
.DriveTrain
.GYRO_PORT
);
98 // TODO: Not sure if MODULE_NUMBER should be the same for both
99 leftGearPiston
= new DoubleSolenoid(Constants
.DriveTrain
.PISTON_MODULE
,
100 Constants
.DriveTrain
.LEFT_GEAR_PISTON_FORWARD
,
101 Constants
.DriveTrain
.LEFT_GEAR_PISTON_REVERSE
);
102 rightGearPiston
= new DoubleSolenoid(Constants
.DriveTrain
.PISTON_MODULE
,
103 Constants
.DriveTrain
.RIGHT_GEAR_PISTON_FORWARD
,
104 Constants
.DriveTrain
.RIGHT_GEAR_PISTON_REVERSE
);
107 public PIDController
getDriveController() {
108 return this.driveController
;
111 public PIDController
getGyroController() {
112 return this.gyroController
;
115 public static DriveTrain
getDriveTrain() {
116 if (driveTrain
== null) {
117 driveTrain
= new DriveTrain();
123 public void setMotorValues(final double left
, final double right
) {
127 frontRight
.set(-right
);
128 rearRight
.set(-right
);
131 public void joystickDrive(final double thrust
, final double twist
) {
132 robotDrive
.arcadeDrive(thrust
, twist
, true);
136 setMotorValues(0, 0);
139 public double getLeftMotorVal() {
140 return (frontLeft
.get() + rearLeft
.get()) / 2;
143 public double getRightMotorVal() {
144 return (frontRight
.get() + rearRight
.get()) / 2;
149 public double getLeftEncoderDistance() {
150 return leftEncoder
.getDistance();
153 public double getRightEncoderDistance() {
154 return rightEncoder
.getDistance();
157 public void printEncoderOutput() {
158 System
.out
.println("left: " + getLeftEncoderDistance());
159 System
.out
.println("right: " + getRightEncoderDistance());
160 // System.out.println(getAvgEncoderDistance());
163 public double getAvgEncoderDistance() {
164 return (leftEncoder
.getDistance() + rightEncoder
.getDistance()) / 2;
167 public void resetEncoders() {
169 rightEncoder
.reset();
172 public double getLeftSpeed() {
173 return leftEncoder
.getRate();
176 public double getRightSpeed() {
177 return rightEncoder
.getRate();
180 public double getSpeed() {
181 return (getLeftSpeed() + getRightSpeed()) / 2.0;
184 // ------Gyro------//
185 public double getAngle() {
186 return this.imu
.getAngle();
189 public void resetGyro() {
194 * @return a value that is the current setpoint for the piston kReverse or
197 public Value
getLeftGearPistonValue() {
198 return leftGearPiston
.get();
202 * @return a value that is the current setpoint for the piston kReverse or
205 public Value
getRightGearPistonValue() {
206 return rightGearPiston
.get();
210 * Changes the ball shift gear assembly to high
212 public void setHighGear() {
213 changeGear(Constants
.DriveTrain
.HIGH_GEAR
);
217 * Changes the ball shift gear assembly to low
219 public void setLowGear() {
220 changeGear(Constants
.DriveTrain
.LOW_GEAR
);
224 * Changes the gear to a DoubleSolenoid.Value
226 private void changeGear(DoubleSolenoid
.Value gear
) {
227 leftGearPiston
.set(gear
);
228 rightGearPiston
.set(gear
);
232 protected void initDefaultCommand() {
233 setDefaultCommand(new JoystickDrive());