package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
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.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.I2C.Port;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- 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
- public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
+ 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 double driveStraightGyroP = 0.01;
+
+ public static final double WHEEL_DIAMETER = 4; // inches
+ public static final double 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;
+
+ 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 gearManipulatorPiston;
- private BNO055 imu;
+ private ADXRS450_Gyro imu;
+
+ public boolean shouldBeClimbing = false;
private DriveTrain() {
// MOTOR CONTROLLERS
// ROBOT DRIVE
robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
- this.imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
- BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
- gyroZero = imu.getHeading();
+ 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);
+ rightDriveTrainPiston = new DoubleSolenoid(
+ Constants.DriveTrain.PISTON_MODULE,
+ Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
+ Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
+
+ gearManipulatorPiston = new DoubleSolenoid(
+ Constants.DriveTrain.PISTON_MODULE,
+ Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_FORWARD,
+ Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_REVERSE);
}
public static DriveTrain getDriveTrain() {
}
// DRIVE METHODS
- public void setMotorValues(final double left, final double right) {
+ public void setMotorValues(double left, double right) {
+ left = MathLib.restrictToRange(left, -1.0, 1.0);
+ right = MathLib.restrictToRange(right, -1.0, 1.0);
+
frontLeft.set(left);
rearLeft.set(left);
}
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() {
setMotorValues(0, 0);
}
- public double getFrontLeftMotorVal() {
- return frontLeft.get();
- }
-
- public double getFrontRightMotorVal() {
- return frontRight.get();
+ public double getLeftMotorVal() {
+ return (frontLeft.get() + rearLeft.get()) / 2;
}
- public double getRearLeftMotorVal() {
- return frontLeft.get();
- }
-
- public double getRearRightMotorVal() {
- return frontLeft.get();
+ public double getRightMotorVal() {
+ return (frontRight.get() + rearRight.get()) / 2;
}
// ENCODER METHODS
public void printEncoderOutput() {
System.out.println("left: " + getLeftEncoderDistance());
System.out.println("right: " + getRightEncoderDistance());
+ // System.out.println(getAvgEncoderDistance());
}
public double getAvgEncoderDistance() {
// ------Gyro------//
public double getAngle() {
- if (!this.imu.isInitialized())
- return -1;
- return this.imu.getHeading() - this.gyroZero;
+ return this.imu.getAngle();
}
public void resetGyro() {
- this.gyroZero = this.getAngle();
+ this.imu.reset();
+ }
+ /*
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
+ */
+ public Value getLeftDriveTrainPiston() {
+ return leftDriveTrainPiston.get();
}
- public double getZeroAngle() {
- return this.gyroZero;
+ /*
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
+ */
+ public Value getRightDriveTrainPiston() {
+ return rightDriveTrainPiston.get();
+ }
+
+ /*
+ * Changes the ball shift gear assembly to high
+ */
+ public void setHighGear() {
+ changeGear(Constants.DriveTrain.FORWARD_PISTON_VALUE);
+ }
+
+ /*
+ * Changes the ball shift gear assembly to low
+ */
+ public void setLowGear() {
+ changeGear(Constants.DriveTrain.REVERSE_PISTON_VALUE);
+ }
+
+ /*
+ * Changes the gear to a DoubleSolenoid.Value
+ */
+ private void changeGear(DoubleSolenoid.Value gear) {
+ leftDriveTrainPiston.set(gear);
+ rightDriveTrainPiston.set(gear);
+ }
+
+ public Value getGearManipulatorPistonValue() {
+ return gearManipulatorPiston.get();
+ }
+
+ public void extendGearManipulatorPiston() {
+ gearManipulatorPiston.set(Constants.DriveTrain.FORWARD_PISTON_VALUE);
+ }
+
+ public void retractGearManipulatorPiston() {
+ gearManipulatorPiston.set(Constants.DriveTrain.REVERSE_PISTON_VALUE);
}
@Override
setDefaultCommand(new JoystickDrive());
}
+ public void setCANTalonsBrakeMode(boolean mode) {
+ frontLeft.enableBrakeMode(mode);
+ rearLeft.enableBrakeMode(mode);
+
+ frontRight.enableBrakeMode(mode);
+ rearRight.enableBrakeMode(mode);
+ }
}
projects / 3501 / 2017steamworks / blobdiff