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.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 {
- private static DriveTrain driveTrain;
- private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
- private final RobotDrive robotDrive;
- private final Encoder leftEncoder, rightEncoder;
-
- private DriveTrain() {
- // MOTOR CONTROLLERS
- frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
- frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
- rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
- rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
-
- // ENCODERS
- leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, Constants.DriveTrain.ENCODER_LEFT_B);
- rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, Constants.DriveTrain.ENCODER_RIGHT_B);
-
- leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
- rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
-
- // ROBOT DRIVE
- robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
- }
-
- public static DriveTrain getDriveTrain() {
- if (driveTrain == null) {
- driveTrain = new DriveTrain();
- }
- return driveTrain;
- }
-
- // DRIVE METHODS
- public void setMotorValues(final double left, final double right) {
- robotDrive.tankDrive(left, right);
- }
-
- public void joystickDrive(final double thrust, final double twist) {
- robotDrive.arcadeDrive(thrust, twist);
- }
-
- public void stop() {
- 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 CANTalon getRearRight() {
- return rearRight;
- }
-
- // ENCODER METHODS
-
- public double getLeftEncoder() {
- return leftEncoder.getDistance();
- }
-
- public double getRightEncoder() {
- return rightEncoder.getDistance();
- }
-
- public double getAvgEncoderDistance() {
- return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
- }
-
- public void resetEncoders() {
- leftEncoder.reset();
- rightEncoder.reset();
- }
-
- public double getLeftSpeed() {
- return leftEncoder.getRate();
- }
-
- public double getRightSpeed() {
- return rightEncoder.getRate();
- }
-
- public double getSpeed() {
- return (getLeftSpeed() + getRightSpeed()) / 2.0;
- }
-
- @Override
- protected void initDefaultCommand() {
- setDefaultCommand(new JoystickDrive());
- }
+ public static double driveP = 0.008, driveI = 0.001, driveD = -0.002;
+ public static double defaultGyroP = 0.006, 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 final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
+ / ENCODER_PULSES_PER_REVOLUTION;
+
+ private static DriveTrain driveTrain;
+ private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
+ private final RobotDrive robotDrive;
+ private final Encoder leftEncoder, rightEncoder;
+
+ private BNO055 imu;
+
+ private DriveTrain() {
+ // MOTOR CONTROLLERS
+ frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
+ frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
+ rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
+ rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
+
+ // ENCODERS
+ leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
+ Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
+ rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
+ Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
+
+ leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
+ rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
+
+ // 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();
+ }
+
+ public static DriveTrain getDriveTrain() {
+ if (driveTrain == null) {
+ driveTrain = new DriveTrain();
+ }
+ return driveTrain;
+ }
+
+ // DRIVE METHODS
+ public void setMotorValues(final double left, final double right) {
+ frontLeft.set(left);
+ rearLeft.set(left);
+
+ frontRight.set(-right);
+ rearRight.set(-right);
+ }
+
+ public void joystickDrive(final double thrust, final double twist) {
+ robotDrive.arcadeDrive(thrust, twist, true);
+ }
+
+ public void stop() {
+ setMotorValues(0, 0);
+ }
+
+ public double getLeftMotorVal() {
+ return (frontLeft.get() + rearLeft.get()) / 2;
+ }
+
+ public double getRightMotorVal() {
+ return (frontRight.get() + rearRight.get()) / 2;
+ }
+
+ // ENCODER METHODS
+
+ public double getLeftEncoderDistance() {
+ return leftEncoder.getDistance();
+ }
+
+ public double getRightEncoderDistance() {
+ 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;
+ }
+
+ public void resetEncoders() {
+ leftEncoder.reset();
+ rightEncoder.reset();
+ }
+
+ public double getLeftSpeed() {
+ return leftEncoder.getRate();
+ }
+
+ public double getRightSpeed() {
+ return rightEncoder.getRate();
+ }
+
+ public double getSpeed() {
+ return (getLeftSpeed() + getRightSpeed()) / 2.0;
+ }
+
+ // ------Gyro------//
+ 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;
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+ setDefaultCommand(new JoystickDrive());
+ }
}
projects / 3501 / 2017steamworks / blobdiff