tweak auton middle gear command group

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / subsystems / DriveTrain.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 029d8259047e753dda3abce64f21e5f7c88b181b..3f76a860f6907505d1431d64db159c0944de708d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -5,20 +5,37 @@ import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 
 import com.ctre.CANTalon;
 
+import edu.wpi.first.wpilibj.ADXRS450_Gyro;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotDrive;
 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 turnP = 0.004, turnI = 0.0013, turnD = -0.005;
+  public static double driveStraightGyroP = 0.01;
+
   public static final double WHEEL_DIAMETER = 6; // inches
   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 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 final RobotDrive robotDrive;
   private final Encoder leftEncoder, rightEncoder;
+  private final DoubleSolenoid leftGearPiston, rightGearPiston;
+
+  private ADXRS450_Gyro imu;
+
+  public boolean shouldBeClimbing = false;
 
   private DriveTrain() {
     // MOTOR CONTROLLERS
@@ -38,6 +55,16 @@ public class DriveTrain extends Subsystem {
 
     // ROBOT DRIVE
     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
+
+    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,
+        Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
+        Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
+    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+        Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
+        Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -64,36 +91,12 @@ public class DriveTrain extends Subsystem {
     setMotorValues(0, 0);
   }
 
-  public double getFrontLeftMotorVal() {
-    return frontLeft.get();
-  }
-
-  public double getFrontRightMotorVal() {
-    return frontRight.get();
-  }
-
-  public double getRearLeftMotorVal() {
-    return frontLeft.get();
-  }
-
-  public double getRearRightMotorVal() {
-    return frontLeft.get();
-  }
-
-  public CANTalon getFrontLeft() {
-    return frontLeft;
-  }
-
-  public CANTalon getFrontRight() {
-    return frontRight;
-  }
-
-  public CANTalon getRearLeft() {
-    return rearLeft;
+  public double getLeftMotorVal() {
+    return (frontLeft.get() + rearLeft.get()) / 2;
   }
 
-  public CANTalon getRearRight() {
-    return rearRight;
+  public double getRightMotorVal() {
+    return (frontRight.get() + rearRight.get()) / 2;
   }
 
   // ENCODER METHODS
@@ -106,6 +109,12 @@ public class DriveTrain extends Subsystem {
     return rightEncoder.getDistance();
   }
 
+  public void printEncoderOutput() {
+    System.out.println("left: " + getLeftEncoderDistance());
+    System.out.println("right: " + getRightEncoderDistance());
+    // System.out.println(getAvgEncoderDistance());
+  }
+
   public double getAvgEncoderDistance() {
     return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
   }
@@ -127,9 +136,55 @@ public class DriveTrain extends Subsystem {
     return (getLeftSpeed() + getRightSpeed()) / 2.0;
   }
 
+  // ------Gyro------//
+  public double getAngle() {
+    return this.imu.getAngle();
+  }
+
+  public void resetGyro() {
+    this.imu.reset();
+  }
+
+  /*
+   * @return a value that is the current setpoint for the piston kReverse or
+   * KForward
+   */
+  public Value getLeftGearPistonValue() {
+    return leftGearPiston.get();
+  }
+
+  /*
+   * @return a value that is the current setpoint for the piston kReverse or
+   * KForward
+   */
+  public Value getRightGearPistonValue() {
+    return rightGearPiston.get();
+  }
+
+  /*
+   * Changes the ball shift gear assembly to high
+   */
+  public void setHighGear() {
+    changeGear(Constants.DriveTrain.HIGH_GEAR);
+  }
+
+  /*
+   * Changes the ball shift gear assembly to low
+   */
+  public void setLowGear() {
+    changeGear(Constants.DriveTrain.LOW_GEAR);
+  }
+
+  /*
+   * Changes the gear to a DoubleSolenoid.Value
+   */
+  private void changeGear(DoubleSolenoid.Value gear) {
+    leftGearPiston.set(gear);
+    rightGearPiston.set(gear);
+  }
+
   @Override
   protected void initDefaultCommand() {
     setDefaultCommand(new JoystickDrive());
   }
-
 }