Create constants for gear piston in drivetrain

[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 c445f630109f1d4d30067f6735fb65e8c5a6395c..ef4090353db0fa1060fdd23239958cf9deb76902 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -6,14 +6,20 @@ 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 = 0.006, 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 = 0.006, defaultGyroI = 0.00000,
+  public static double defaultGyroP = 0.009, defaultGyroI = 0.00000,
       defaultGyroD = -0.000;
   private double gyroZero = 0;
 
@@ -26,7 +32,9 @@ public class DriveTrain extends Subsystem {
   private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
   private final RobotDrive robotDrive;
   private final Encoder leftEncoder, rightEncoder;
+  private final DoubleSolenoid leftGearPiston, rightGearPiston;
 
+  private ADXRS450_Gyro imu;
   private BNO055 imu;
 
   private DriveTrain() {
@@ -48,9 +56,18 @@ public class DriveTrain extends Subsystem {
     // ROBOT DRIVE
     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
 
+    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();
+
   }
 
   public static DriveTrain getDriveTrain() {
@@ -99,6 +116,8 @@ public class DriveTrain extends Subsystem {
     // 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() {
@@ -123,6 +142,13 @@ public class DriveTrain extends Subsystem {
   }
 
   // ------Gyro------//
+  public double getAngle() {
+    return this.imu.getAngle() - this.gyroZero;
+  }
+
+  public void resetGyro() {
+    this.imu.reset();
+
   public double getAngle() {
     if (!this.imu.isInitialized())
       return -1;
@@ -138,6 +164,44 @@ public class DriveTrain extends Subsystem {
     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());