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
   6 import com.ctre.CANTalon;
   7
   8 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
   9 import edu.wpi.first.wpilibj.DoubleSolenoid;
  10 import edu.wpi.first.wpilibj.Encoder;
  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 = 0.006, driveI = 0.001, driveD = -0.002;
  16   public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
  17       defaultGyroD = -0.005;
  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   private final DoubleSolenoid shifter;
  30
  31   private ADXRS450_Gyro imu;
  32
  33   private DriveTrain() {
  34     // MOTOR CONTROLLERS
  35     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  36     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  37     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  38     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  39
  40     // ENCODERS
  41     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  42         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  43     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  44         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  45
  46     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  47     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  48
  49     // ROBOT DRIVE
  50     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  51
  52     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  53     shifter = DoubleSolenoid(10, Constants.DriveTrain.SHIFTER_FORWARD,
  54         Constants.DriveTrain.SHIFTER_REVERSE);
  55   }
  56
  57   public static DriveTrain getDriveTrain() {
  58     if (driveTrain == null) {
  59       driveTrain = new DriveTrain();
  60     }
  61     return driveTrain;
  62   }
  63
  64   // DRIVE METHODS
  65   public void setMotorValues(final double left, final double right) {
  66     frontLeft.set(left);
  67     rearLeft.set(left);
  68
  69     frontRight.set(-right);
  70     rearRight.set(-right);
  71   }
  72
  73   public void joystickDrive(final double thrust, final double twist) {
  74     robotDrive.arcadeDrive(thrust, twist, true);
  75   }
  76
  77   public void stop() {
  78     setMotorValues(0, 0);
  79   }
  80
  81   public double getLeftMotorVal() {
  82     return (frontLeft.get() + rearLeft.get()) / 2;
  83   }
  84
  85   public double getRightMotorVal() {
  86     return (frontRight.get() + rearRight.get()) / 2;
  87   }
  88
  89   // ENCODER METHODS
  90
  91   public double getLeftEncoderDistance() {
  92     return leftEncoder.getDistance();
  93   }
  94
  95   public double getRightEncoderDistance() {
  96     return rightEncoder.getDistance();
  97   }
  98
  99   public void printEncoderOutput() {
 100     // System.out.println("left: " + getLeftEncoderDistance());
 101     // System.out.println("right: " + getRightEncoderDistance());
 102     System.out.println(getAvgEncoderDistance());
 103   }
 104
 105   public double getAvgEncoderDistance() {
 106     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 107   }
 108
 109   public void resetEncoders() {
 110     leftEncoder.reset();
 111     rightEncoder.reset();
 112   }
 113
 114   public double getLeftSpeed() {
 115     return leftEncoder.getRate();
 116   }
 117
 118   public double getRightSpeed() {
 119     return rightEncoder.getRate();
 120   }
 121
 122   public double getSpeed() {
 123     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 124   }
 125
 126   // ------Gyro------//
 127   public double getAngle() {
 128     return this.imu.getAngle() - this.gyroZero;
 129   }
 130
 131   public void resetGyro() {
 132     this.imu.reset();
 133   }
 134
 135   public double getZeroAngle() {
 136     return this.gyroZero;
 137   }
 138
 139   @Override
 140   protected void initDefaultCommand() {
 141     setDefaultCommand(new JoystickDrive());
 142   }
 143
 144 }