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, turnI, turnD;
  20
  21   public static double driveStraightGyroP = 0.01;
  22
  23   public static final String DRIVE_P_Val = "DriveP";
  24   public static final String DRIVE_I_Val = "DriveI";
  25   public static final String DRIVE_D_Val = "DriveD";
  26   public static final String DRIVE_TARGET_DIST = "SET_DIST";
  27   public static final String DRIVE_MOTOR_VAL = "SPEED";
  28   public static final String GYRO_P_Val = "GyroP";
  29   public static final String GYRO_I_Val = "GyroI";
  30   public static final String GYRO_D_Val = "GyroD";
  31   public static final String GYRO_TARGET_ANGLE = "SET_ANGLE";
  32   public static final int PID_ERROR = -1;
  33   public static final int TARGET_DISTANCE_ERROR = -1;
  34
  35   public static final double WHEEL_DIAMETER = 6; // inches
  36   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  37   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  38       / ENCODER_PULSES_PER_REVOLUTION;
  39
  40   public static final double MAINTAIN_CLIMBED_POSITION = 0;
  41   public static final double TIME_TO_CLIMB_FOR = 0;
  42   public static final double CLIMBER_SPEED = 0;
  43
  44   private static DriveTrain driveTrain;
  45
  46   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  47   private final RobotDrive robotDrive;
  48   private final Encoder leftEncoder, rightEncoder;
  49   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  50
  51   private ADXRS450_Gyro imu;
  52
  53   public boolean shouldBeClimbing = false;
  54
  55   private PIDController driveController;
  56   private PIDController gyroController;
  57
  58   private boolean isClimbing;
  59   private static double CLIMBER_SPEED;;
  60   public boolean shouldBeClimbing = false;
  61
  62   private PIDController driveController;
  63   private PIDController gyroController;
  64
  65   private DriveTrain() {
  66
  67     // PID TUNING
  68     driveController = new PIDController(driveP, driveI, driveD);
  69     gyroController = new PIDController(turnP, turnI, turnD
  70
  71     // MOTOR CONTROLLERS
  72     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  73     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  74     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  75     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  76
  77     // ENCODERS
  78     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  79         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  80     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  81         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  82
  83     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  84     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  85
  86     // ROBOT DRIVE
  87     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  88
  89     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  90
  91     // TODO: Not sure if MODULE_NUMBER should be the same for both
  92     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  93         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  94         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  95     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  96         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  97         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  98   }
  99
 100   public PIDController getDriveController() {
 101     return this.driveController;
 102   }
 103
 104   public PIDController getGyroController() {
 105     return this.gyroController;
 106   }
 107
 108   public static DriveTrain getDriveTrain() {
 109     if (driveTrain == null) {
 110       driveTrain = new DriveTrain();
 111     }
 112     return driveTrain;
 113   }
 114
 115   // DRIVE METHODS
 116   public void setMotorValues(final double left, final double right) {
 117     frontLeft.set(left);
 118     rearLeft.set(left);
 119
 120     frontRight.set(-right);
 121     rearRight.set(-right);
 122   }
 123
 124   public void joystickDrive(final double thrust, final double twist) {
 125     robotDrive.arcadeDrive(thrust, twist, true);
 126   }
 127
 128   public void stop() {
 129     setMotorValues(0, 0);
 130   }
 131
 132   public double getLeftMotorVal() {
 133     return (frontLeft.get() + rearLeft.get()) / 2;
 134   }
 135
 136   public double getRightMotorVal() {
 137     return (frontRight.get() + rearRight.get()) / 2;
 138   }
 139
 140   // ENCODER METHODS
 141
 142   public double getLeftEncoderDistance() {
 143     return leftEncoder.getDistance();
 144   }
 145
 146   public double getRightEncoderDistance() {
 147     return rightEncoder.getDistance();
 148   }
 149
 150   public void printEncoderOutput() {
 151     System.out.println("left: " + getLeftEncoderDistance());
 152     System.out.println("right: " + getRightEncoderDistance());
 153     // System.out.println(getAvgEncoderDistance());
 154   }
 155
 156   public double getAvgEncoderDistance() {
 157     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 158   }
 159
 160   public void resetEncoders() {
 161     leftEncoder.reset();
 162     rightEncoder.reset();
 163   }
 164
 165   public double getLeftSpeed() {
 166     return leftEncoder.getRate();
 167   }
 168
 169   public double getRightSpeed() {
 170     return rightEncoder.getRate();
 171   }
 172
 173   public double getSpeed() {
 174     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 175   }
 176
 177   // ------Gyro------//
 178   public double getAngle() {
 179     return this.imu.getAngle();
 180   }
 181
 182   public void resetGyro() {
 183     this.imu.reset();
 184   }
 185
 186   /*
 187    * @return a value that is the current setpoint for the piston kReverse or
 188    * KForward
 189    */
 190   public Value getLeftGearPistonValue() {
 191     return leftGearPiston.get();
 192   }
 193
 194   /*
 195    * @return a value that is the current setpoint for the piston kReverse or
 196    * KForward
 197    */
 198   public Value getRightGearPistonValue() {
 199     return rightGearPiston.get();
 200   }
 201
 202   /*
 203    * Changes the ball shift gear assembly to high
 204    */
 205   public void setHighGear() {
 206     changeGear(Constants.DriveTrain.HIGH_GEAR);
 207   }
 208
 209   /*
 210    * Changes the ball shift gear assembly to low
 211    */
 212   public void setLowGear() {
 213     changeGear(Constants.DriveTrain.LOW_GEAR);
 214   }
 215
 216   /*
 217    * Changes the gear to a DoubleSolenoid.Value
 218    */
 219   private void changeGear(DoubleSolenoid.Value gear) {
 220     leftGearPiston.set(gear);
 221     rightGearPiston.set(gear);
 222   }
 223
 224   @Override
 225   protected void initDefaultCommand() {
 226     setDefaultCommand(new JoystickDrive());
 227   }
 228 }