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 = 0.01, driveI = 0.00115, 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 boolean BRAKE_MODE = true;
  29   public static final boolean COAST_MODE = false;
  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 rightDriveTrainPiston;
  37   // private final Solenoid leftDriveTrainPiston;
  38   private final DoubleSolenoid gearManipulatorPiston;
  39
  40   private ADXRS450_Gyro imu;
  41
  42   private DriveTrain() {
  43     // MOTOR CONTROLLERS
  44     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  45     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  46     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  47     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  48
  49     // ENCODERS
  50     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  51         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  52     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  53         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  54
  55     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  56     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  57
  58     // ROBOT DRIVE
  59     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  60
  61     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  62
  63     // TODO: Not sure if MODULE_NUMBER should be the same for both
  64     // leftDriveTrainPiston = new Solenoid(Constants.DriveTrain.PISTON_MODULE,
  65     // Constants.DriveTrain.LEFT_GEAR_PISTON_PORT);
  66     rightDriveTrainPiston = new DoubleSolenoid(
  67         Constants.DriveTrain.PISTON_MODULE,
  68         Constants.DriveTrain.DRIVETRAIN_GEAR_FORWARD,
  69         Constants.DriveTrain.DRIVETRAIN_GEAR_REVERSE);
  70
  71     gearManipulatorPiston = new DoubleSolenoid(
  72         Constants.DriveTrain.PISTON_MODULE,
  73         Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_FORWARD,
  74         Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_REVERSE);
  75   }
  76
  77   public static DriveTrain getDriveTrain() {
  78     if (driveTrain == null) {
  79       driveTrain = new DriveTrain();
  80     }
  81     return driveTrain;
  82   }
  83
  84   // DRIVE METHODS
  85   public void setMotorValues(double left, double right) {
  86     left = MathLib.restrictToRange(left, -1.0, 1.0);
  87     right = MathLib.restrictToRange(right, -1.0, 1.0);
  88
  89     frontLeft.set(left);
  90     rearLeft.set(left);
  91
  92     frontRight.set(-right);
  93     rearRight.set(-right);
  94   }
  95
  96   public void setCANTalonsBrakeMode(boolean mode) {
  97     frontLeft.enableBrakeMode(mode);
  98     frontRight.enableBrakeMode(mode);
  99     rearLeft.enableBrakeMode(mode);
 100     rearRight.enableBrakeMode(mode);
 101   }
 102
 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);
 106     else
 107       robotDrive.arcadeDrive(thrust, twist, true);
 108     System.out.println(thrust + " " + twist);
 109   }
 110
 111   public void tankDrive(double left, double right) {
 112     robotDrive.tankDrive(left, right);
 113   }
 114
 115   public void stop() {
 116     setMotorValues(0, 0);
 117   }
 118
 119   public double getLeftMotorVal() {
 120     return (frontLeft.get() + rearLeft.get()) / 2;
 121   }
 122
 123   public double getRightMotorVal() {
 124     return (frontRight.get() + rearRight.get()) / 2;
 125   }
 126
 127   // ENCODER METHODS
 128
 129   public double getLeftEncoderDistance() {
 130     return leftEncoder.getDistance();
 131   }
 132
 133   public double getRightEncoderDistance() {
 134     return rightEncoder.getDistance();
 135   }
 136
 137   public void printEncoderOutput() {
 138     System.out.println("left: " + getLeftEncoderDistance());
 139     System.out.println("right: " + getRightEncoderDistance());
 140     // System.out.println(getAvgEncoderDistance());
 141   }
 142
 143   public double getAvgEncoderDistance() {
 144     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 145   }
 146
 147   public void resetEncoders() {
 148     leftEncoder.reset();
 149     rightEncoder.reset();
 150   }
 151
 152   public double getLeftSpeed() {
 153     return leftEncoder.getRate();
 154   }
 155
 156   public double getRightSpeed() {
 157     return rightEncoder.getRate();
 158   }
 159
 160   public double getSpeed() {
 161     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 162   }
 163
 164   // ------Gyro------//
 165   public double getAngle() {
 166     return this.imu.getAngle();
 167   }
 168
 169   public void resetGyro() {
 170     this.imu.reset();
 171   }
 172
 173   /*
 174    * @return a value that is the current setpoint for the piston kReverse or
 175    * KForward
 176    */
 177   // public boolean getLeftDriveTrainPiston() {
 178   // return leftDriveTrainPiston.get();
 179   // }
 180
 181   /*
 182    * @return a value that is the current setpoint for the piston kReverse or
 183    * KForward
 184    */
 185   public Value getRightDriveTrainPiston() {
 186     return rightDriveTrainPiston.get();
 187   }
 188
 189   /*
 190    * Changes the ball shift gear assembly to high
 191    */
 192   public void setHighGear() {
 193     changeGear(Constants.DriveTrain.FORWARD_PISTON_VALUE);
 194   }
 195
 196   /*
 197    * Changes the ball shift gear assembly to low
 198    */
 199   public void setLowGear() {
 200     changeGear(Constants.DriveTrain.REVERSE_PISTON_VALUE);
 201   }
 202
 203   /*
 204    * Changes the gear to a DoubleSolenoid.Value
 205    */
 206   private void changeGear(DoubleSolenoid.Value gear) {
 207     System.out.println("shifting to " + gear);
 208     rightDriveTrainPiston.set(gear);
 209     System.out.println("after: " + this.getRightDriveTrainPiston());
 210
 211     //
 212     // if (gear == Constants.DriveTrain.FORWARD_PISTON_VALUE)
 213     // leftDriveTrainPiston.set(Constants.DriveTrain.EXTEND_VALUE);
 214     // else
 215     // leftDriveTrainPiston.set(Constants.DriveTrain.RETRACT_VALUE);
 216   }
 217
 218   public Value getGearManipulatorPistonValue() {
 219     return gearManipulatorPiston.get();
 220   }
 221
 222   public void extendGearManipulatorPiston() {
 223     gearManipulatorPiston.set(Constants.DriveTrain.FORWARD_PISTON_VALUE);
 224   }
 225
 226   public void retractGearManipulatorPiston() {
 227     gearManipulatorPiston.set(Constants.DriveTrain.REVERSE_PISTON_VALUE);
 228   }
 229
 230   @Override
 231   protected void initDefaultCommand() {
 232     setDefaultCommand(new JoystickDrive());
 233   }
 234 }