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.MathLib;
   5 import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
   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   public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
  18   public static double smallTurnP = 0.004, smallTurnI = 0.0013,
  19       smallTurnD = 0.005;
  20   public static double largeTurnP = .003, largeTurnI = .0012, largeTurnD = .006;
  21   public static double driveStraightGyroP = 0.01;
  22
  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;
  27
  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;
  31
  32   public static final boolean DRIVE_BRAKE_MODE = true;
  33   public static final boolean DRIVE_COAST_MODE = false;
  34
  35   private static DriveTrain driveTrain;
  36
  37   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  38   private final RobotDrive robotDrive;
  39   private final Encoder leftEncoder, rightEncoder;
  40   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  41
  42   private ADXRS450_Gyro imu;
  43
  44   public boolean shouldBeClimbing = false;
  45
  46   private DriveTrain() {
  47     // MOTOR CONTROLLERS
  48     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  49     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  50     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  51     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  52
  53     // ENCODERS
  54     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  55         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  56     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  57         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  58
  59     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  60     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  61
  62     // ROBOT DRIVE
  63     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  64
  65     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  66
  67     // TODO: Not sure if MODULE_NUMBER should be the same for both
  68     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  69         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  70         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  71     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  72         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  73         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  74   }
  75
  76   public static DriveTrain getDriveTrain() {
  77     if (driveTrain == null) {
  78       driveTrain = new DriveTrain();
  79     }
  80     return driveTrain;
  81   }
  82
  83   // DRIVE METHODS
  84   public void setMotorValues(double left, double right) {
  85     left = MathLib.restrictToRange(left, -1.0, 1.0);
  86     right = MathLib.restrictToRange(right, -1.0, 1.0);
  87
  88     frontLeft.set(left);
  89     rearLeft.set(left);
  90
  91     frontRight.set(-right);
  92     rearRight.set(-right);
  93   }
  94
  95   public void joystickDrive(final double thrust, final double twist) {
  96     robotDrive.arcadeDrive(thrust, twist, true);
  97   }
  98
  99   public void stop() {
 100     setMotorValues(0, 0);
 101   }
 102
 103   public double getLeftMotorVal() {
 104     return (frontLeft.get() + rearLeft.get()) / 2;
 105   }
 106
 107   public double getRightMotorVal() {
 108     return (frontRight.get() + rearRight.get()) / 2;
 109   }
 110
 111   // ENCODER METHODS
 112
 113   public double getLeftEncoderDistance() {
 114     return leftEncoder.getDistance();
 115   }
 116
 117   public double getRightEncoderDistance() {
 118     return rightEncoder.getDistance();
 119   }
 120
 121   public void printEncoderOutput() {
 122     System.out.println("left: " + getLeftEncoderDistance());
 123     System.out.println("right: " + getRightEncoderDistance());
 124     // System.out.println(getAvgEncoderDistance());
 125   }
 126
 127   public double getAvgEncoderDistance() {
 128     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 129   }
 130
 131   public void resetEncoders() {
 132     leftEncoder.reset();
 133     rightEncoder.reset();
 134   }
 135
 136   public double getLeftSpeed() {
 137     return leftEncoder.getRate();
 138   }
 139
 140   public double getRightSpeed() {
 141     return rightEncoder.getRate();
 142   }
 143
 144   public double getSpeed() {
 145     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 146   }
 147
 148   // ------Gyro------//
 149   public double getAngle() {
 150     return this.imu.getAngle();
 151   }
 152
 153   public void resetGyro() {
 154     this.imu.reset();
 155   }
 156
 157   /*
 158    * @return a value that is the current setpoint for the piston kReverse or
 159    * KForward
 160    */
 161   public Value getLeftGearPistonValue() {
 162     return leftGearPiston.get();
 163   }
 164
 165   /*
 166    * @return a value that is the current setpoint for the piston kReverse or
 167    * KForward
 168    */
 169   public Value getRightGearPistonValue() {
 170     return rightGearPiston.get();
 171   }
 172
 173   /*
 174    * Changes the ball shift gear assembly to high
 175    */
 176   public void setHighGear() {
 177     changeGear(Constants.DriveTrain.HIGH_GEAR);
 178   }
 179
 180   /*
 181    * Changes the ball shift gear assembly to low
 182    */
 183   public void setLowGear() {
 184     changeGear(Constants.DriveTrain.LOW_GEAR);
 185   }
 186
 187   /*
 188    * Changes the gear to a DoubleSolenoid.Value
 189    */
 190   private void changeGear(DoubleSolenoid.Value gear) {
 191     leftGearPiston.set(gear);
 192     rightGearPiston.set(gear);
 193   }
 194
 195   @Override
 196   protected void initDefaultCommand() {
 197     setDefaultCommand(new JoystickDrive());
 198   }
 199
 200   public void setCANTalonsBrakeMode(boolean mode) {
 201     frontLeft.enableBrakeMode(mode);
 202     rearLeft.enableBrakeMode(mode);
 203
 204     frontRight.enableBrakeMode(mode);
 205     rearRight.enableBrakeMode(mode);
 206   }
 207 }