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 CANTalon frontLeft, frontRight, rearLeft, rearRight;
  14     private RobotDrive robotDrive;
  15     private 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         return driveTrain;
  41     }
  42
  43     // DRIVE METHODS
  44     public void setMotorValues(double left, double right) {
  45         robotDrive.tankDrive(left, right);
  46     }
  47
  48     public void joystickDrive(double left, double right) {
  49         robotDrive.tankDrive(left, right);
  50     }
  51
  52     public void stop() {
  53         setMotorValues(0, 0);
  54     }
  55
  56     public double getFrontLeftMotorVal() {
  57         return frontLeft.get();
  58     }
  59
  60     public double getFrontRightMotorVal() {
  61         return frontRight.get();
  62     }
  63
  64     public double getRearLeftMotorVal() {
  65         return frontLeft.get();
  66     }
  67
  68     public double getRearRightMotorVal() {
  69         return frontLeft.get();
  70     }
  71
  72     public CANTalon getFrontLeft() {
  73         return frontLeft;
  74     }
  75
  76     public CANTalon getFrontRight() {
  77         return frontRight;
  78     }
  79
  80     public CANTalon getRearLeft() {
  81         return rearLeft;
  82     }
  83
  84     public CANTalon getRearRight() {
  85         return rearRight;
  86     }
  87
  88     // ENCODER METHODS
  89
  90     public double getLeftEncoder() {
  91         return leftEncoder.getDistance();
  92     }
  93
  94     public double getRightEncoder() {
  95         return rightEncoder.getDistance();
  96     }
  97
  98     public double getAvgEncoderDistance() {
  99         return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
 100     }
 101
 102     public void resetEncoders() {
 103         leftEncoder.reset();
 104         rightEncoder.reset();
 105     }
 106
 107     public double getLeftSpeed() {
 108         return leftEncoder.getRate();
 109     }
 110
 111     public double getRightSpeed() {
 112         return rightEncoder.getRate();
 113     }
 114
 115     public double getSpeed() {
 116         return (getLeftSpeed() + getRightSpeed()) / 2.0;
 117     }
 118
 119     @Override
 120     protected void initDefaultCommand() {
 121     }
 122
 123 }