import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
+ public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
public static double driveStraightGyroP = 0.01;
public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
/ ENCODER_PULSES_PER_REVOLUTION;
- public static final int MAINTAIN_CLIMBED_POSITION = 0;
- public static final int TIME_TO_CLIMB_FOR = 0;
+
+ public static final double MAINTAIN_CLIMBED_POSITION = 0;
+ public static final double TIME_TO_CLIMB_FOR = 0;
+ public static final double CLIMBER_SPEED = 0;
+
private static DriveTrain driveTrain;
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
private ADXRS450_Gyro imu;
- private boolean isClimbing;
- private static double CLIMBER_SPEED;;
+ public boolean shouldBeClimbing = false;
private DriveTrain() {
// MOTOR CONTROLLERS
this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
// TODO: Not sure if MODULE_NUMBER should be the same for both
- leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+ leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
- rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+ rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
-
- CLIMBER_SPEED = Constants.DriveTrain.CLIMBER_SPEED;
}
public static DriveTrain getDriveTrain() {
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());
}
-
- public boolean isClimbing() {
- return this.isClimbing;
- }
-
- public double getClimbingSpeed() {
- return this.CLIMBER_SPEED;
- }
-
}