competition fixes

[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 5422e973078ba2d99b0d9556732de89a0d8d4b31..b7264f1c8bba799dfe8aa9f717e28564e28175ca 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -14,7 +14,7 @@ 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 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;
@@ -29,12 +29,16 @@ public class DriveTrain extends Subsystem {
   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 leftGearPiston, rightGearPiston;
+  private final DoubleSolenoid leftDriveTrainPiston, rightDriveTrainPiston;
+  private final DoubleSolenoid gearManipulatorPiston;
 
   private ADXRS450_Gyro imu;
 
@@ -62,12 +66,19 @@ public class DriveTrain extends Subsystem {
     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.PISTON_MODULE,
+    leftDriveTrainPiston = new DoubleSolenoid(
+        Constants.DriveTrain.PISTON_MODULE,
         Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
         Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
-    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.PISTON_MODULE,
+    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() {
@@ -90,7 +101,10 @@ public class DriveTrain extends Subsystem {
   }
 
   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() {
@@ -155,43 +169,62 @@ public class DriveTrain extends Subsystem {
    * @return a value that is the current setpoint for the piston kReverse or
    * KForward
    */
-  public Value getLeftGearPistonValue() {
-    return leftGearPiston.get();
+  public Value getLeftDriveTrainPiston() {
+    return leftDriveTrainPiston.get();
   }
 
   /*
    * @return a value that is the current setpoint for the piston kReverse or
    * KForward
    */
-  public Value getRightGearPistonValue() {
-    return rightGearPiston.get();
+  public Value getRightDriveTrainPiston() {
+    return rightDriveTrainPiston.get();
   }
 
   /*
    * Changes the ball shift gear assembly to high
    */
   public void setHighGear() {
-    changeGear(Constants.DriveTrain.HIGH_GEAR);
+    changeGear(Constants.DriveTrain.FORWARD_PISTON_VALUE);
   }
 
   /*
    * Changes the ball shift gear assembly to low
    */
   public void setLowGear() {
-    changeGear(Constants.DriveTrain.LOW_GEAR);
+    changeGear(Constants.DriveTrain.REVERSE_PISTON_VALUE);
   }
 
   /*
    * Changes the gear to a DoubleSolenoid.Value
    */
   private void changeGear(DoubleSolenoid.Value gear) {
-    System.out.println(gear);
-    leftGearPiston.set(gear);
-    rightGearPiston.set(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
   protected void initDefaultCommand() {
     setDefaultCommand(new JoystickDrive());
   }
+
+  public void setCANTalonsBrakeMode(boolean mode) {
+    frontLeft.enableBrakeMode(mode);
+    rearLeft.enableBrakeMode(mode);
+
+    frontRight.enableBrakeMode(mode);
+    rearRight.enableBrakeMode(mode);
+  }
 }