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
   5 import com.ctre.CANTalon;
   6
   7 import edu.wpi.first.wpilibj.Encoder;
   8 import edu.wpi.first.wpilibj.RobotDrive;
   9 import edu.wpi.first.wpilibj.command.Subsystem;
  10
  11 public class DriveTrain extends Subsystem {
  12   private static DriveTrain driveTrain;
  13   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
  14   private final RobotDrive robotDrive;
  15   private final Encoder leftEncoder, rightEncoder;
  16
  17   private DriveTrain() {
  18     // MOTOR CONTROLLERS
  19     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  20     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  21     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  22     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  23
  24     // ENCODERS
  25     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  26         Constants.DriveTrain.ENCODER_LEFT_B);
  27     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  28         Constants.DriveTrain.ENCODER_RIGHT_B);
  29
  30     leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  31     rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  32
  33     // ROBOT DRIVE
  34     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
  35   }
  36
  37   public static DriveTrain getDriveTrain() {
  38     if (driveTrain == null) {
  39       driveTrain = new DriveTrain();
  40     }
  41     return driveTrain;
  42   }
  43
  44   // DRIVE METHODS
  45   public void setMotorValues(final double left, final double right) {
  46     robotDrive.tankDrive(left, right);
  47   }
  48
  49   public void joystickDrive(final double left, final double right) {
  50     robotDrive.tankDrive(left, right);
  51   }
  52
  53   public void stop() {
  54     setMotorValues(0, 0);
  55   }
  56
  57   public double getFrontLeftMotorVal() {
  58     return frontLeft.get();
  59   }
  60
  61   public double getFrontRightMotorVal() {
  62     return frontRight.get();
  63   }
  64
  65   public double getRearLeftMotorVal() {
  66     return frontLeft.get();
  67   }
  68
  69   public double getRearRightMotorVal() {
  70     return frontLeft.get();
  71   }
  72
  73   public CANTalon getFrontLeft() {
  74     return frontLeft;
  75   }
  76
  77   public CANTalon getFrontRight() {
  78     return frontRight;
  79   }
  80
  81   public CANTalon getRearLeft() {
  82     return rearLeft;
  83   }
  84
  85   public CANTalon getRearRight() {
  86     return rearRight;
  87   }
  88
  89   // ENCODER METHODS
  90
  91   public double getLeftEncoder() {
  92     return leftEncoder.getDistance();
  93   }
  94
  95   public double getRightEncoder() {
  96     return rightEncoder.getDistance();
  97   }
  98
  99   public double getAvgEncoderDistance() {
 100     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 101   }
 102
 103   public void resetEncoders() {
 104     leftEncoder.reset();
 105     rightEncoder.reset();
 106   }
 107
 108   public double getLeftSpeed() {
 109     return leftEncoder.getRate();
 110   }
 111
 112   public double getRightSpeed() {
 113     return rightEncoder.getRate();
 114   }
 115
 116   public double getSpeed() {
 117     return (getLeftSpeed() + getRightSpeed()) / 2.0;
 118   }
 119
 120   @Override
 121   protected void initDefaultCommand() {
 122   }
 123
 124 }