import com.ctre.CANTalon;
+import edu.wpi.first.wpilibj.ADXRS450_Gyro;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Encoder;
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;
+ 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
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
private final RobotDrive robotDrive;
private final Encoder leftEncoder, rightEncoder;
+ private final DoubleSolenoid shifter;
+
+ private ADXRS450_Gyro imu;
private DriveTrain() {
// MOTOR CONTROLLERS
// 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);
}
public static DriveTrain getDriveTrain() {
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 double getLeftMotorVal() {
+ return (frontLeft.get() + rearLeft.get()) / 2;
}
- public CANTalon getFrontLeft() {
- return frontLeft;
- }
-
- public CANTalon getFrontRight() {
- return frontRight;
- }
-
- public CANTalon getRearLeft() {
- return rearLeft;
- }
-
- public CANTalon getRearRight() {
- return rearRight;
+ public double getRightMotorVal() {
+ return (frontRight.get() + rearRight.get()) / 2;
}
// ENCODER METHODS
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;
}
return (getLeftSpeed() + getRightSpeed()) / 2.0;
}
+ // ------Gyro------//
+ public double getAngle() {
+ return this.imu.getAngle() - this.gyroZero;
+ }
+
+ public void resetGyro() {
+ this.imu.reset();
+ }
+
+ public double getZeroAngle() {
+ return this.gyroZero;
+ }
+
@Override
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());