import org.usfirst.frc.team3501.robot.Constants;
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 static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
defaultGyroD = -0.005;
+ 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
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
private final RobotDrive robotDrive;
private final Encoder leftEncoder, rightEncoder;
- private final DoubleSolenoid shifter;
+ private final DoubleSolenoid leftGearPiston, rightGearPiston;
private ADXRS450_Gyro imu;
+ private BNO055 imu;
private DriveTrain() {
// MOTOR CONTROLLERS
this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
shifter = DoubleSolenoid(10, Constants.DriveTrain.SHIFTER_FORWARD,
Constants.DriveTrain.SHIFTER_REVERSE);
+ leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+ Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
+ rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+ Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
+
+ this.imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
+ BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
+ gyroZero = imu.getHeading();
+
+ leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+ Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
+ rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+ Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
}
public static DriveTrain getDriveTrain() {
// System.out.println("left: " + getLeftEncoderDistance());
// System.out.println("right: " + getRightEncoderDistance());
System.out.println(getAvgEncoderDistance());
+ System.out.println("left: " + getLeftEncoderDistance());
+ System.out.println("right: " + getRightEncoderDistance());
}
public double getAvgEncoderDistance() {
public void resetGyro() {
this.imu.reset();
+
+ public double getAngle() {
+ if (!this.imu.isInitialized())
+ return -1;
+ return this.imu.getHeading() - this.gyroZero;
+ }
+
+ public void resetGyro() {
+ this.gyroZero = this.getAngle();
+
}
public double getZeroAngle() {
return this.gyroZero;
}
+ /*
+ * @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 setppoint 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());