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.BNO055;
   6
   7 import com.ctre.CANTalon;
   8
   9 import edu.wpi.first.wpilibj.Encoder;
  10 import edu.wpi.first.wpilibj.RobotDrive;
  11 import edu.wpi.first.wpilibj.command.Subsystem;
  12
  13 public class DriveTrain extends Subsystem {
  14   public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
  15   public static double defaultGyroP = 0.009, defaultGyroI = 0.00000,
  16       defaultGyroD = -0.000;
  17   private double gyroZero = 0;
  18
  19   public static final double WHEEL_DIAMETER = 6; // inches
  20   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  21   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  22       / ENCODER_PULSES_PER_REVOLUTION;
  23
  24   private static DriveTrain driveTrain;
  25   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  26   private final RobotDrive robotDrive;
  27   private final Encoder leftEncoder, rightEncoder;
  28
  29   private BNO055 imu;
  30
  31   private DriveTrain() {
  32     // MOTOR CONTROLLERS
  33     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  34     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  35     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  36     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  37
  38     // ENCODERS
  39     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  40         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  41     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  42         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  43
  44     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  45     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  46
  47     // ROBOT DRIVE
  48     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  49   }
  50
  51   public static DriveTrain getDriveTrain() {
  52     if (driveTrain == null) {
  53       driveTrain = new DriveTrain();
  54     }
  55     return driveTrain;
  56   }
  57
  58   // DRIVE METHODS
  59   public void setMotorValues(final double left, final double right) {
  60     frontLeft.set(left);
  61     rearLeft.set(left);
  62
  63     frontRight.set(-right);
  64     rearRight.set(-right);
  65   }
  66
  67   public void joystickDrive(final double thrust, final double twist) {
  68     robotDrive.arcadeDrive(thrust, twist, true);
  69   }
  70
  71   public void stop() {
  72     setMotorValues(0, 0);
  73   }
  74
  75   public double getFrontLeftMotorVal() {
  76     return frontLeft.get();
  77   }
  78
  79   public double getFrontRightMotorVal() {
  80     return frontRight.get();
  81   }
  82
  83   public double getRearLeftMotorVal() {
  84     return frontLeft.get();
  85   }
  86
  87   public double getRearRightMotorVal() {
  88     return frontLeft.get();
  89   }
  90
  91   // ENCODER METHODS
  92
  93   public double getLeftEncoderDistance() {
  94     return leftEncoder.getDistance();
  95   }
  96
  97   public double getRightEncoderDistance() {
  98     return rightEncoder.getDistance();
  99   }
 100
 101   public double getAvgEncoderDistance() {
 102     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 103   }
 104
 105   public void resetEncoders() {
 106     leftEncoder.reset();
 107     rightEncoder.reset();
 108   }
 109
 110   public double getLeftSpeed() {
 111     return leftEncoder.getRate();
 112   }
 113
 114   public double getRightSpeed() {
 115     return rightEncoder.getRate();
 116   }
 117
 118   public double getSpeed() {
 119     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 120   }
 121
 122   // ------Gyro------//
 123   public double getAngle() {
 124     if (!this.imu.isInitialized())
 125       return -1;
 126     return this.imu.getHeading() - this.gyroZero;
 127   }
 128
 129   public void resetGyro() {
 130     this.gyroZero = this.getAngle();
 131
 132   }
 133
 134   public double getZeroAngle() {
 135     return this.gyroZero;
 136   }
 137
 138   @Override
 139   protected void initDefaultCommand() {
 140     setDefaultCommand(new JoystickDrive());
 141   }
 142
 143 }