import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
+ public static double driveP = 0.01, driveI = 0.00115, driveD = -0.002;
public static double smallTurnP = 0.004, smallTurnI = 0.0013,
smallTurnD = 0.005;
public static double largeTurnP = .003, largeTurnI = .0012, largeTurnD = .006;
public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
/ ENCODER_PULSES_PER_REVOLUTION;
- public static final double MAINTAIN_CLIMBED_POSITION = 0;
- public static final double TIME_TO_CLIMB_FOR = 0;
- public static final double CLIMBER_SPEED = 0;
-
- public static final boolean DRIVE_BRAKE_MODE = true;
- public static final boolean DRIVE_COAST_MODE = false;
-
private static DriveTrain driveTrain;
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
private final RobotDrive robotDrive;
private final Encoder leftEncoder, rightEncoder;
- private final DoubleSolenoid leftDriveTrainPiston, rightDriveTrainPiston;
+ private final DoubleSolenoid rightDriveTrainPiston;
+ // private final Solenoid leftDriveTrainPiston;
private final DoubleSolenoid gearManipulatorPiston;
private ADXRS450_Gyro imu;
- public boolean shouldBeClimbing = false;
-
private DriveTrain() {
// MOTOR CONTROLLERS
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
// TODO: Not sure if MODULE_NUMBER should be the same for both
- leftDriveTrainPiston = new DoubleSolenoid(
- Constants.DriveTrain.PISTON_MODULE,
- Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
- Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
+ // leftDriveTrainPiston = new Solenoid(Constants.DriveTrain.PISTON_MODULE,
+ // Constants.DriveTrain.LEFT_GEAR_PISTON_PORT);
rightDriveTrainPiston = new DoubleSolenoid(
Constants.DriveTrain.PISTON_MODULE,
- Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
- Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
+ Constants.DriveTrain.DRIVETRAIN_GEAR_FORWARD,
+ Constants.DriveTrain.DRIVETRAIN_GEAR_REVERSE);
gearManipulatorPiston = new DoubleSolenoid(
Constants.DriveTrain.PISTON_MODULE,
}
public void joystickDrive(final double thrust, final double twist) {
- robotDrive.arcadeDrive(thrust, twist, true);
+ if ((thrust < 0.1 && thrust > -0.1) && (twist < 0.1 && twist > -0.1))
+ robotDrive.arcadeDrive(0, 0, true);
+ else
+ robotDrive.arcadeDrive(thrust, twist, true);
}
public void stop() {
* @return a value that is the current setpoint for the piston kReverse or
* KForward
*/
- public Value getLeftDriveTrainPiston() {
- return leftDriveTrainPiston.get();
- }
+ // public boolean getLeftDriveTrainPiston() {
+ // return leftDriveTrainPiston.get();
+ // }
/*
* @return a value that is the current setpoint for the piston kReverse or
* Changes the gear to a DoubleSolenoid.Value
*/
private void changeGear(DoubleSolenoid.Value gear) {
- leftDriveTrainPiston.set(gear);
+ System.out.println("shifting to " + gear);
rightDriveTrainPiston.set(gear);
+ System.out.println("after: " + this.getRightDriveTrainPiston());
+
+ //
+ // if (gear == Constants.DriveTrain.FORWARD_PISTON_VALUE)
+ // leftDriveTrainPiston.set(Constants.DriveTrain.EXTEND_VALUE);
+ // else
+ // leftDriveTrainPiston.set(Constants.DriveTrain.RETRACT_VALUE);
}
public Value getGearManipulatorPistonValue() {
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());
}
-
- public void setCANTalonsBrakeMode(boolean mode) {
- frontLeft.enableBrakeMode(mode);
- rearLeft.enableBrakeMode(mode);
-
- frontRight.enableBrakeMode(mode);
- rearRight.enableBrakeMode(mode);
- }
}