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