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