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.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.I2C.Port;
  14 import edu.wpi.first.wpilibj.RobotDrive;
  15 import edu.wpi.first.wpilibj.command.Subsystem;
  16
  17 public class DriveTrain extends Subsystem {
  18   public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
  19   public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
  20       defaultGyroD = -0.005;
  21   public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
  22   public static double defaultGyroP = 0.009, defaultGyroI = 0.00000,
  23       defaultGyroD = -0.000;
  24   private double gyroZero = 0;
  25
  26   public static final double WHEEL_DIAMETER = 6; // inches
  27   public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
  28   public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
  29       / ENCODER_PULSES_PER_REVOLUTION;
  30
  31   private static DriveTrain driveTrain;
  32   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  33   private final RobotDrive robotDrive;
  34   private final Encoder leftEncoder, rightEncoder;
  35   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  36
  37   private ADXRS450_Gyro imu;
  38   private BNO055 imu;
  39
  40   private DriveTrain() {
  41     // MOTOR CONTROLLERS
  42     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  43     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  44     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  45     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  46
  47     // ENCODERS
  48     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  49         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  50     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  51         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  52
  53     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  54     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  55
  56     // ROBOT DRIVE
  57     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  58
  59     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  60     shifter = DoubleSolenoid(10, Constants.DriveTrain.SHIFTER_FORWARD,
  61         Constants.DriveTrain.SHIFTER_REVERSE);
  62     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  63         Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
  64     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  65         Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
  66
  67     this.imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
  68         BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
  69     gyroZero = imu.getHeading();
  70
  71   }
  72
  73   public static DriveTrain getDriveTrain() {
  74     if (driveTrain == null) {
  75       driveTrain = new DriveTrain();
  76     }
  77     return driveTrain;
  78   }
  79
  80   // DRIVE METHODS
  81   public void setMotorValues(final double left, final double right) {
  82     frontLeft.set(left);
  83     rearLeft.set(left);
  84
  85     frontRight.set(-right);
  86     rearRight.set(-right);
  87   }
  88
  89   public void joystickDrive(final double thrust, final double twist) {
  90     robotDrive.arcadeDrive(thrust, twist, true);
  91   }
  92
  93   public void stop() {
  94     setMotorValues(0, 0);
  95   }
  96
  97   public double getLeftMotorVal() {
  98     return (frontLeft.get() + rearLeft.get()) / 2;
  99   }
 100
 101   public double getRightMotorVal() {
 102     return (frontRight.get() + rearRight.get()) / 2;
 103   }
 104
 105   // ENCODER METHODS
 106
 107   public double getLeftEncoderDistance() {
 108     return leftEncoder.getDistance();
 109   }
 110
 111   public double getRightEncoderDistance() {
 112     return rightEncoder.getDistance();
 113   }
 114
 115   public void printEncoderOutput() {
 116     // System.out.println("left: " + getLeftEncoderDistance());
 117     // System.out.println("right: " + getRightEncoderDistance());
 118     System.out.println(getAvgEncoderDistance());
 119     System.out.println("left: " + getLeftEncoderDistance());
 120     System.out.println("right: " + getRightEncoderDistance());
 121   }
 122
 123   public double getAvgEncoderDistance() {
 124     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 125   }
 126
 127   public void resetEncoders() {
 128     leftEncoder.reset();
 129     rightEncoder.reset();
 130   }
 131
 132   public double getLeftSpeed() {
 133     return leftEncoder.getRate();
 134   }
 135
 136   public double getRightSpeed() {
 137     return rightEncoder.getRate();
 138   }
 139
 140   public double getSpeed() {
 141     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 142   }
 143
 144   // ------Gyro------//
 145   public double getAngle() {
 146     return this.imu.getAngle() - this.gyroZero;
 147   }
 148
 149   public void resetGyro() {
 150     this.imu.reset();
 151
 152   public double getAngle() {
 153     if (!this.imu.isInitialized())
 154       return -1;
 155     return this.imu.getHeading() - this.gyroZero;
 156   }
 157
 158   public void resetGyro() {
 159     this.gyroZero = this.getAngle();
 160
 161   }
 162
 163   public double getZeroAngle() {
 164     return this.gyroZero;
 165   }
 166
 167   /*
 168    * @return a value that is the current setpoint for the piston kReverse or
 169    * KForward
 170    */
 171   public Value getLeftGearPistonValue() {
 172     return leftGearPiston.get();
 173   }
 174
 175   /*
 176    * @return a value that is the current setppoint for the piston kReverse or
 177    * kForward
 178    */
 179   public Value getRightGearPistonValue() {
 180     return rightGearPiston.get();
 181   }
 182
 183   /*
 184    * Changes the ball shift gear assembly to high
 185    */
 186   public void setHighGear() {
 187     changeGear(Constants.DriveTrain.HIGH_GEAR);
 188   }
 189
 190   /*
 191    * Changes the ball shift gear assembly to low
 192    */
 193   public void setLowGear() {
 194     changeGear(Constants.DriveTrain.LOW_GEAR);
 195   }
 196
 197   /*
 198    * Changes the gear to a DoubleSolenoid.Value
 199    */
 200   private void changeGear(DoubleSolenoid.Value gear) {
 201     leftGearPiston.set(gear);
 202     rightGearPiston.set(gear);
 203   }
 204
 205   @Override
 206   protected void initDefaultCommand() {
 207     setDefaultCommand(new JoystickDrive());
 208   }
 209
 210 }