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.I2C.Port;
  11 import edu.wpi.first.wpilibj.RobotDrive;
  12 import edu.wpi.first.wpilibj.command.Subsystem;
  13
  14 public class DriveTrain extends Subsystem {
  15   public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
  16   public static double defaultGyroP = 0.006, defaultGyroI = 0.00000,
  17       defaultGyroD = -0.000;
  18   private double gyroZero = 0;
  19
  20   public static final double WHEEL_DIAMETER = 6; // inches
  21   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  22   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  23       / ENCODER_PULSES_PER_REVOLUTION;
  24
  25   private static DriveTrain driveTrain;
  26   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  27   private final RobotDrive robotDrive;
  28   private final Encoder leftEncoder, rightEncoder;
  29
  30   private BNO055 imu;
  31
  32   private DriveTrain() {
  33     // MOTOR CONTROLLERS
  34     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  35     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  36     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  37     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  38
  39     // ENCODERS
  40     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  41         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  42     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  43         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  44
  45     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  46     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  47
  48     // ROBOT DRIVE
  49     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  50
  51     this.imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
  52         BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
  53     gyroZero = imu.getHeading();
  54   }
  55
  56   public static DriveTrain getDriveTrain() {
  57     if (driveTrain == null) {
  58       driveTrain = new DriveTrain();
  59     }
  60     return driveTrain;
  61   }
  62
  63   // DRIVE METHODS
  64   public void setMotorValues(final double left, final double right) {
  65     frontLeft.set(left);
  66     rearLeft.set(left);
  67
  68     frontRight.set(-right);
  69     rearRight.set(-right);
  70   }
  71
  72   public void joystickDrive(final double thrust, final double twist) {
  73     robotDrive.arcadeDrive(thrust, twist, true);
  74   }
  75
  76   public void stop() {
  77     setMotorValues(0, 0);
  78   }
  79
  80   public double getLeftMotorVal() {
  81     return (frontLeft.get() + rearLeft.get()) / 2;
  82   }
  83
  84   public double getRightMotorVal() {
  85     return (frontRight.get() + rearRight.get()) / 2;
  86   }
  87
  88   // ENCODER METHODS
  89
  90   public double getLeftEncoderDistance() {
  91     return leftEncoder.getDistance();
  92   }
  93
  94   public double getRightEncoderDistance() {
  95     return rightEncoder.getDistance();
  96   }
  97
  98   public void printEncoderOutput() {
  99     // System.out.println("left: " + getLeftEncoderDistance());
 100     // System.out.println("right: " + getRightEncoderDistance());
 101     System.out.println(getAvgEncoderDistance());
 102   }
 103
 104   public double getAvgEncoderDistance() {
 105     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 106   }
 107
 108   public void resetEncoders() {
 109     leftEncoder.reset();
 110     rightEncoder.reset();
 111   }
 112
 113   public double getLeftSpeed() {
 114     return leftEncoder.getRate();
 115   }
 116
 117   public double getRightSpeed() {
 118     return rightEncoder.getRate();
 119   }
 120
 121   public double getSpeed() {
 122     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 123   }
 124
 125   // ------Gyro------//
 126   public double getAngle() {
 127     if (!this.imu.isInitialized())
 128       return -1;
 129     return this.imu.getHeading() - this.gyroZero;
 130   }
 131
 132   public void resetGyro() {
 133     this.gyroZero = this.getAngle();
 134
 135   }
 136
 137   public double getZeroAngle() {
 138     return this.gyroZero;
 139   }
 140
 141   @Override
 142   protected void initDefaultCommand() {
 143     setDefaultCommand(new JoystickDrive());
 144   }
 145
 146 }