Add command group for ToggleWinch

[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 29dc7121ead6f0b2f67cbe0e42e218e49c1a5a02..7463b8685faa504319777e830231c066b8088154 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -14,16 +14,17 @@ 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 defaultGyroP = 0.004, defaultGyroI = 0.0013,
-      defaultGyroD = -0.005;
-  private double gyroZero = 0;
+  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 int MAINTAIN_CLIMBED_POSITION = 0;
+  public static final int TIME_TO_CLIMB_FOR = 0;
   private static DriveTrain driveTrain;
+
   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
   private final RobotDrive robotDrive;
   private final Encoder leftEncoder, rightEncoder;
@@ -31,6 +32,9 @@ public class DriveTrain extends Subsystem {
 
   private ADXRS450_Gyro imu;
 
+  private boolean isClimbing;
+  private static double CLIMBER_SPEED;;
+
   private DriveTrain() {
     // MOTOR CONTROLLERS
     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
@@ -59,6 +63,8 @@ public class DriveTrain extends Subsystem {
     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
+
+    CLIMBER_SPEED = Constants.DriveTrain.CLIMBER_SPEED;
   }
 
   public static DriveTrain getDriveTrain() {
@@ -75,6 +81,7 @@ public class DriveTrain extends Subsystem {
 
     frontRight.set(-right);
     rearRight.set(-right);
+    this.isClimbing = true;
   }
 
   public void joystickDrive(final double thrust, final double twist) {
@@ -83,6 +90,7 @@ public class DriveTrain extends Subsystem {
 
   public void stop() {
     setMotorValues(0, 0);
+    this.isClimbing = false;
   }
 
   public double getLeftMotorVal() {
@@ -104,11 +112,9 @@ public class DriveTrain extends Subsystem {
   }
 
   public void printEncoderOutput() {
-    // System.out.println("left: " + getLeftEncoderDistance());
-    // System.out.println("right: " + getRightEncoderDistance());
-    System.out.println(getAvgEncoderDistance());
     System.out.println("left: " + getLeftEncoderDistance());
     System.out.println("right: " + getRightEncoderDistance());
+    // System.out.println(getAvgEncoderDistance());
   }
 
   public double getAvgEncoderDistance() {
@@ -134,17 +140,13 @@ public class DriveTrain extends Subsystem {
 
   // ------Gyro------//
   public double getAngle() {
-    return this.imu.getAngle() - this.gyroZero;
+    return this.imu.getAngle();
   }
 
   public void resetGyro() {
     this.imu.reset();
   }
 
-  public double getZeroAngle() {
-    return this.gyroZero;
-  }
-
   /*
    * @return a value that is the current setpoint for the piston kReverse or
    * KForward
@@ -188,4 +190,16 @@ public class DriveTrain extends Subsystem {
     setDefaultCommand(new JoystickDrive());
   }
 
+  public boolean isClimbing() {
+    return this.isClimbing;
+  }
+
+  public void setClimbing(boolean isClimbing) {
+    this.isClimbing = isClimbing;
+  }
+
+  public double getClimbingSpeed() {
+    return this.CLIMBER_SPEED;
+  }
+
 }