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