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.DoubleSolenoid.Value;
  11 import edu.wpi.first.wpilibj.Encoder;
  12 import edu.wpi.first.wpilibj.RobotDrive;
  13 import edu.wpi.first.wpilibj.command.Subsystem;
  14
  15 public class DriveTrain extends Subsystem {
  16   public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
  17   public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
  18   public static double driveStraightGyroP = 0.01;
  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   public static final int MAINTAIN_CLIMBED_POSITION = 0;
  25   public static final int TIME_TO_CLIMB_FOR = 0;
  26   private static DriveTrain driveTrain;
  27
  28   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  29   private final RobotDrive robotDrive;
  30   private final Encoder leftEncoder, rightEncoder;
  31   private final DoubleSolenoid leftGearPiston, rightGearPiston;
  32
  33   private ADXRS450_Gyro imu;
  34
  35   private boolean isClimbing;
  36   private static double CLIMBER_SPEED;;
  37
  38   private DriveTrain() {
  39     // MOTOR CONTROLLERS
  40     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  41     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  42     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  43     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  44
  45     // ENCODERS
  46     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  47         Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
  48     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  49         Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
  50
  51     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  52     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  53
  54     // ROBOT DRIVE
  55     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  56
  57     this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
  58
  59     // TODO: Not sure if MODULE_NUMBER should be the same for both
  60     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  61         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
  62         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
  63     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
  64         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
  65         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
  66
  67     CLIMBER_SPEED = Constants.DriveTrain.CLIMBER_SPEED;
  68   }
  69
  70   public static DriveTrain getDriveTrain() {
  71     if (driveTrain == null) {
  72       driveTrain = new DriveTrain();
  73     }
  74     return driveTrain;
  75   }
  76
  77   // DRIVE METHODS
  78   public void setMotorValues(final double left, final double right) {
  79     frontLeft.set(left);
  80     rearLeft.set(left);
  81
  82     frontRight.set(-right);
  83     rearRight.set(-right);
  84   }
  85
  86   public void joystickDrive(final double thrust, final double twist) {
  87     robotDrive.arcadeDrive(thrust, twist, true);
  88   }
  89
  90   public void stop() {
  91     setMotorValues(0, 0);
  92   }
  93
  94   public double getLeftMotorVal() {
  95     return (frontLeft.get() + rearLeft.get()) / 2;
  96   }
  97
  98   public double getRightMotorVal() {
  99     return (frontRight.get() + rearRight.get()) / 2;
 100   }
 101
 102   // ENCODER METHODS
 103
 104   public double getLeftEncoderDistance() {
 105     return leftEncoder.getDistance();
 106   }
 107
 108   public double getRightEncoderDistance() {
 109     return rightEncoder.getDistance();
 110   }
 111
 112   public void printEncoderOutput() {
 113     System.out.println("left: " + getLeftEncoderDistance());
 114     System.out.println("right: " + getRightEncoderDistance());
 115     // System.out.println(getAvgEncoderDistance());
 116   }
 117
 118   public double getAvgEncoderDistance() {
 119     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 120   }
 121
 122   public void resetEncoders() {
 123     leftEncoder.reset();
 124     rightEncoder.reset();
 125   }
 126
 127   public double getLeftSpeed() {
 128     return leftEncoder.getRate();
 129   }
 130
 131   public double getRightSpeed() {
 132     return rightEncoder.getRate();
 133   }
 134
 135   public double getSpeed() {
 136     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 137   }
 138
 139   // ------Gyro------//
 140   public double getAngle() {
 141     return this.imu.getAngle();
 142   }
 143
 144   public void resetGyro() {
 145     this.imu.reset();
 146   }
 147
 148   /*
 149    * @return a value that is the current setpoint for the piston kReverse or
 150    * KForward
 151    */
 152   public Value getLeftGearPistonValue() {
 153     return leftGearPiston.get();
 154   }
 155
 156   /*
 157    * @return a value that is the current setpoint for the piston kReverse or
 158    * KForward
 159    */
 160   public Value getRightGearPistonValue() {
 161     return rightGearPiston.get();
 162   }
 163
 164   /*
 165    * Changes the ball shift gear assembly to high
 166    */
 167   public void setHighGear() {
 168     changeGear(Constants.DriveTrain.HIGH_GEAR);
 169   }
 170
 171   /*
 172    * Changes the ball shift gear assembly to low
 173    */
 174   public void setLowGear() {
 175     changeGear(Constants.DriveTrain.LOW_GEAR);
 176   }
 177
 178   /*
 179    * Changes the gear to a DoubleSolenoid.Value
 180    */
 181   private void changeGear(DoubleSolenoid.Value gear) {
 182     leftGearPiston.set(gear);
 183     rightGearPiston.set(gear);
 184   }
 185
 186   @Override
 187   protected void initDefaultCommand() {
 188     setDefaultCommand(new JoystickDrive());
 189   }
 190
 191   public boolean isClimbing() {
 192     return this.isClimbing;
 193   }
 194
 195   public double getClimbingSpeed() {
 196     return this.CLIMBER_SPEED;
 197   }
 198
 199 }