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   public static DriveTrain getDriveTrain() {
  73     if (driveTrain == null) {
  74       driveTrain = new DriveTrain();
  75     }
  76     return driveTrain;
  77   }
  78
  79   // DRIVE METHODS
  80   public void setMotorValues(final double left, final double right) {
  81     frontLeft.set(left);
  82     rearLeft.set(left);
  83
  84     frontRight.set(-right);
  85     rearRight.set(-right);
  86   }
  87
  88   public void joystickDrive(final double thrust, final double twist) {
  89     robotDrive.arcadeDrive(thrust, twist, true);
  90   }
  91
  92   public void stop() {
  93     setMotorValues(0, 0);
  94   }
  95
  96   public double getLeftMotorVal() {
  97     return (frontLeft.get() + rearLeft.get()) / 2;
  98   }
  99
 100   public double getRightMotorVal() {
 101     return (frontRight.get() + rearRight.get()) / 2;
 102   }
 103
 104   // ENCODER METHODS
 105
 106   public double getLeftEncoderDistance() {
 107     return leftEncoder.getDistance();
 108   }
 109
 110   public double getRightEncoderDistance() {
 111     return rightEncoder.getDistance();
 112   }
 113
 114   public void printEncoderOutput() {
 115     // System.out.println("left: " + getLeftEncoderDistance());
 116     // System.out.println("right: " + getRightEncoderDistance());
 117     System.out.println(getAvgEncoderDistance());
 118     System.out.println("left: " + getLeftEncoderDistance());
 119     System.out.println("right: " + getRightEncoderDistance());
 120   }
 121
 122   public double getAvgEncoderDistance() {
 123     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 124   }
 125
 126   public void resetEncoders() {
 127     leftEncoder.reset();
 128     rightEncoder.reset();
 129   }
 130
 131   public double getLeftSpeed() {
 132     return leftEncoder.getRate();
 133   }
 134
 135   public double getRightSpeed() {
 136     return rightEncoder.getRate();
 137   }
 138
 139   public double getSpeed() {
 140     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 141   }
 142
 143   // ------Gyro------//
 144   public double getAngle() {
 145     return this.imu.getAngle() - this.gyroZero;
 146   }
 147
 148   public void resetGyro() {
 149     this.imu.reset();
 150   }
 151
 152   public double getZeroAngle() {
 153     return this.gyroZero;
 154   /*
 155    * @return a value that is the current setpoint for the piston kReverse or
 156    * KForward
 157    */
 158   public Value getLeftGearPistonValue() {
 159     return leftGearPiston.get();
 160   }
 161
 162   /*
 163    * @return a value that is the current setppoint for the piston kReverse or
 164    * kForward
 165    */
 166   public Value getRightGearPistonValue() {
 167     return rightGearPiston.get();
 168   }
 169
 170   /*
 171    * Changes the ball shift gear assembly to high
 172    */
 173   public void setHighGear() {
 174     changeGear(Constants.DriveTrain.HIGH_GEAR);
 175   }
 176
 177   /*
 178    * Changes the ball shift gear assembly to low
 179    */
 180   public void setLowGear() {
 181     changeGear(Constants.DriveTrain.LOW_GEAR);
 182   }
 183
 184   /*
 185    * Changes the gear to a DoubleSolenoid.Value
 186    */
 187   private void changeGear(DoubleSolenoid.Value gear) {
 188     leftGearPiston.set(gear);
 189     rightGearPiston.set(gear);
 190   }
 191
 192   public double getAngle() {
 193     if (!this.imu.isInitialized())
 194       return -1;
 195     return this.imu.getHeading() - this.gyroZero;
 196   }
 197
 198   public void resetGyro() {
 199     this.gyroZero = this.getAngle();
 200
 201   }
 202
 203   public double getZeroAngle() {
 204     return this.gyroZero;
 205   }
 206
 207   @Override
 208   protected void initDefaultCommand() {
 209     setDefaultCommand(new JoystickDrive());
 210   }
 211
 212 }