1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
4 import org
.usfirst
.frc
.team3501
.robot
.MathLib
;
5 import org
.usfirst
.frc
.team3501
.robot
.commands
.driving
.JoystickDrive
;
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
= 0.01, driveI
= 0.00115, driveD
= -0.002;
18 public static double smallTurnP
= 0.004, smallTurnI
= 0.0013,
20 public static double largeTurnP
= .003, largeTurnI
= .0012, largeTurnD
= .006;
21 public static double driveStraightGyroP
= 0.01;
23 public static final double WHEEL_DIAMETER
= 4; // inches
24 public static final double ENCODER_PULSES_PER_REVOLUTION
= 256;
25 public static final double INCHES_PER_PULSE
= WHEEL_DIAMETER
* Math
.PI
26 / ENCODER_PULSES_PER_REVOLUTION
;
28 public static final double MAINTAIN_CLIMBED_POSITION
= 0;
29 public static final double TIME_TO_CLIMB_FOR
= 0;
30 public static final double CLIMBER_SPEED
= 0;
32 public static final boolean DRIVE_BRAKE_MODE
= true;
33 public static final boolean DRIVE_COAST_MODE
= false;
35 private static DriveTrain driveTrain
;
37 private final CANTalon frontLeft
, frontRight
, rearLeft
, rearRight
;
38 private final RobotDrive robotDrive
;
39 private final Encoder leftEncoder
, rightEncoder
;
40 private final DoubleSolenoid leftDriveTrainPiston
, rightDriveTrainPiston
;
41 private final DoubleSolenoid gearManipulatorPiston
;
43 private ADXRS450_Gyro imu
;
45 public boolean shouldBeClimbing
= false;
47 private DriveTrain() {
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
);
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
);
60 leftEncoder
.setDistancePerPulse(INCHES_PER_PULSE
);
61 rightEncoder
.setDistancePerPulse(INCHES_PER_PULSE
);
64 robotDrive
= new RobotDrive(frontLeft
, rearLeft
, frontRight
, rearRight
);
66 this.imu
= new ADXRS450_Gyro(Constants
.DriveTrain
.GYRO_PORT
);
68 // TODO: Not sure if MODULE_NUMBER should be the same for both
69 leftDriveTrainPiston
= new DoubleSolenoid(
70 Constants
.DriveTrain
.PISTON_MODULE
,
71 Constants
.DriveTrain
.LEFT_GEAR_PISTON_FORWARD
,
72 Constants
.DriveTrain
.LEFT_GEAR_PISTON_REVERSE
);
73 rightDriveTrainPiston
= new DoubleSolenoid(
74 Constants
.DriveTrain
.PISTON_MODULE
,
75 Constants
.DriveTrain
.RIGHT_GEAR_PISTON_FORWARD
,
76 Constants
.DriveTrain
.RIGHT_GEAR_PISTON_REVERSE
);
78 gearManipulatorPiston
= new DoubleSolenoid(
79 Constants
.DriveTrain
.PISTON_MODULE
,
80 Constants
.DriveTrain
.GEAR_MANIPULATOR_PISTON_FORWARD
,
81 Constants
.DriveTrain
.GEAR_MANIPULATOR_PISTON_REVERSE
);
84 public static DriveTrain
getDriveTrain() {
85 if (driveTrain
== null) {
86 driveTrain
= new DriveTrain();
92 public void setMotorValues(double left
, double right
) {
93 left
= MathLib
.restrictToRange(left
, -1.0, 1.0);
94 right
= MathLib
.restrictToRange(right
, -1.0, 1.0);
99 frontRight
.set(-right
);
100 rearRight
.set(-right
);
103 public void joystickDrive(final double thrust
, final double twist
) {
104 if ((thrust
< 0.1 && thrust
> -0.1) && (twist
< 0.1 && twist
> -0.1))
105 robotDrive
.arcadeDrive(0, 0, true);
107 robotDrive
.arcadeDrive(thrust
, twist
, true);
111 setMotorValues(0, 0);
114 public double getLeftMotorVal() {
115 return (frontLeft
.get() + rearLeft
.get()) / 2;
118 public double getRightMotorVal() {
119 return (frontRight
.get() + rearRight
.get()) / 2;
124 public double getLeftEncoderDistance() {
125 return leftEncoder
.getDistance();
128 public double getRightEncoderDistance() {
129 return rightEncoder
.getDistance();
132 public void printEncoderOutput() {
133 System
.out
.println("left: " + getLeftEncoderDistance());
134 System
.out
.println("right: " + getRightEncoderDistance());
135 // System.out.println(getAvgEncoderDistance());
138 public double getAvgEncoderDistance() {
139 return (leftEncoder
.getDistance() + rightEncoder
.getDistance()) / 2;
142 public void resetEncoders() {
144 rightEncoder
.reset();
147 public double getLeftSpeed() {
148 return leftEncoder
.getRate();
151 public double getRightSpeed() {
152 return rightEncoder
.getRate();
155 public double getSpeed() {
156 return (getLeftSpeed() + getRightSpeed()) / 2.0;
159 // ------Gyro------//
160 public double getAngle() {
161 return this.imu
.getAngle();
164 public void resetGyro() {
169 * @return a value that is the current setpoint for the piston kReverse or
172 public Value
getLeftDriveTrainPiston() {
173 return leftDriveTrainPiston
.get();
177 * @return a value that is the current setpoint for the piston kReverse or
180 public Value
getRightDriveTrainPiston() {
181 return rightDriveTrainPiston
.get();
185 * Changes the ball shift gear assembly to high
187 public void setHighGear() {
188 changeGear(Constants
.DriveTrain
.FORWARD_PISTON_VALUE
);
192 * Changes the ball shift gear assembly to low
194 public void setLowGear() {
195 changeGear(Constants
.DriveTrain
.REVERSE_PISTON_VALUE
);
199 * Changes the gear to a DoubleSolenoid.Value
201 private void changeGear(DoubleSolenoid
.Value gear
) {
202 leftDriveTrainPiston
.set(gear
);
203 rightDriveTrainPiston
.set(gear
);
206 public Value
getGearManipulatorPistonValue() {
207 return gearManipulatorPiston
.get();
210 public void extendGearManipulatorPiston() {
211 gearManipulatorPiston
.set(Constants
.DriveTrain
.FORWARD_PISTON_VALUE
);
214 public void retractGearManipulatorPiston() {
215 gearManipulatorPiston
.set(Constants
.DriveTrain
.REVERSE_PISTON_VALUE
);
219 protected void initDefaultCommand() {
220 setDefaultCommand(new JoystickDrive());
223 public void setCANTalonsBrakeMode(boolean mode
) {
224 frontLeft
.enableBrakeMode(mode
);
225 rearLeft
.enableBrakeMode(mode
);
227 frontRight
.enableBrakeMode(mode
);
228 rearRight
.enableBrakeMode(mode
);