import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
+import org.usfirst.frc.team3501.robot.utils.BNO055;
import com.ctre.CANTalon;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.I2C.Port;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.command.Subsystem;
public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
defaultGyroD = -0.005;
+ public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
+ public static double defaultGyroP = 0.009, defaultGyroI = 0.00000,
+ defaultGyroD = -0.000;
private double gyroZero = 0;
public static final double WHEEL_DIAMETER = 6; // inches
private final DoubleSolenoid leftGearPiston, rightGearPiston;
private ADXRS450_Gyro imu;
+ private BNO055 imu;
private DriveTrain() {
// MOTOR CONTROLLERS
Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
+
+ this.imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
+ BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
+ gyroZero = imu.getHeading();
+
+ leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+ Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
+ rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+ Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
}
public static DriveTrain getDriveTrain() {
// System.out.println("left: " + getLeftEncoderDistance());
// System.out.println("right: " + getRightEncoderDistance());
System.out.println(getAvgEncoderDistance());
+ System.out.println("left: " + getLeftEncoderDistance());
+ System.out.println("right: " + getRightEncoderDistance());
}
public double getAvgEncoderDistance() {
public void resetGyro() {
this.imu.reset();
+
+ public double getAngle() {
+ if (!this.imu.isInitialized())
+ return -1;
+ return this.imu.getHeading() - this.gyroZero;
+ }
+
+ public void resetGyro() {
+ this.gyroZero = this.getAngle();
+
}
public double getZeroAngle() {
return this.gyroZero;
+ }
+
/*
* @return a value that is the current setpoint for the piston kReverse or
* KForward
}
/*
- * @return a value that is the current setppoint for the piston kReverse or
- * kForward
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
*/
public Value getRightGearPistonValue() {
return rightGearPiston.get();