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
  21   public static double driveStraightGyroP = 0.01;
  22
  23   public static final double WHEEL_DIAMETER = 6; // inches
  24   public static final int 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   private static DriveTrain driveTrain;
  33
  34   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  35   private final RobotDrive robotDrive;
  36   private final Encoder leftEncoder, rightEncoder;
  37   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  38
  39   private ADXRS450_Gyro imu;
  40
  41   public boolean shouldBeClimbing = false;
  42
  43   private PIDController driveController;
  44   private PIDController gyroController;
  45
  46   private DriveTrain() {
  47
  48     driveController = new PIDController(driveP, driveI, driveD);
  49     gyroController = new PIDController(turnP, turnI, turnD);
  50
  51     // MOTOR CONTROLLERS
  52     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  53     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  54     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  55     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  56
  57     // ENCODERS
  58     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  59         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  60     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  61         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  62
  63     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  64     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  65
  66     // ROBOT DRIVE
  67     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  68
  69     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  70
  71     // TODO: Not sure if MODULE_NUMBER should be the same for both
  72     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  73         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  74         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  75     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
  76         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  77         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  78   }
  79
  80   public PIDController getDriveController() {
  81     return this.driveController;
  82   }
  83
  84   public PIDController getGyroController() {
  85     return this.gyroController;
  86   }
  87
  88   public static DriveTrain getDriveTrain() {
  89     if (driveTrain == null) {
  90       driveTrain = new DriveTrain();
  91     }
  92     return driveTrain;
  93   }
  94
  95   // DRIVE METHODS
  96   public void setMotorValues(final double left, final double right) {
  97     frontLeft.set(left);
  98     rearLeft.set(left);
  99
 100     frontRight.set(-right);
 101     rearRight.set(-right);
 102   }
 103
 104   public void joystickDrive(final double thrust, final double twist) {
 105     robotDrive.arcadeDrive(thrust, twist, true);
 106   }
 107
 108   public void stop() {
 109     setMotorValues(0, 0);
 110   }
 111
 112   public double getLeftMotorVal() {
 113     return (frontLeft.get() + rearLeft.get()) / 2;
 114   }
 115
 116   public double getRightMotorVal() {
 117     return (frontRight.get() + rearRight.get()) / 2;
 118   }
 119
 120   // ENCODER METHODS
 121
 122   public double getLeftEncoderDistance() {
 123     return leftEncoder.getDistance();
 124   }
 125
 126   public double getRightEncoderDistance() {
 127     return rightEncoder.getDistance();
 128   }
 129
 130   public void printEncoderOutput() {
 131     System.out.println("left: " + getLeftEncoderDistance());
 132     System.out.println("right: " + getRightEncoderDistance());
 133     // System.out.println(getAvgEncoderDistance());
 134   }
 135
 136   public double getAvgEncoderDistance() {
 137     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 138   }
 139
 140   public void resetEncoders() {
 141     leftEncoder.reset();
 142     rightEncoder.reset();
 143   }
 144
 145   public double getLeftSpeed() {
 146     return leftEncoder.getRate();
 147   }
 148
 149   public double getRightSpeed() {
 150     return rightEncoder.getRate();
 151   }
 152
 153   public double getSpeed() {
 154     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 155   }
 156
 157   // ------Gyro------//
 158   public double getAngle() {
 159     return this.imu.getAngle();
 160   }
 161
 162   public void resetGyro() {
 163     this.imu.reset();
 164   }
 165
 166   /*
 167    * @return a value that is the current setpoint for the piston kReverse or
 168    * KForward
 169    */
 170   public Value getLeftGearPistonValue() {
 171     return leftGearPiston.get();
 172   }
 173
 174   /*
 175    * @return a value that is the current setpoint for the piston kReverse or
 176    * KForward
 177    */
 178   public Value getRightGearPistonValue() {
 179     return rightGearPiston.get();
 180   }
 181
 182   /*
 183    * Changes the ball shift gear assembly to high
 184    */
 185   public void setHighGear() {
 186     changeGear(Constants.DriveTrain.HIGH_GEAR);
 187   }
 188
 189   /*
 190    * Changes the ball shift gear assembly to low
 191    */
 192   public void setLowGear() {
 193     changeGear(Constants.DriveTrain.LOW_GEAR);
 194   }
 195
 196   /*
 197    * Changes the gear to a DoubleSolenoid.Value
 198    */
 199   private void changeGear(DoubleSolenoid.Value gear) {
 200     leftGearPiston.set(gear);
 201     rightGearPiston.set(gear);
 202   }
 203
 204   @Override
 205   protected void initDefaultCommand() {
 206     setDefaultCommand(new JoystickDrive());
 207   }
 208 }