package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
import com.ctre.CANTalon;
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 turnP = 0.004, turnI = 0.0013, turnD = -0.005;
+ 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;
public static double driveStraightGyroP = 0.01;
- public static final double WHEEL_DIAMETER = 6; // inches
- public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
+ public static final double WHEEL_DIAMETER = 4; // inches
+ public static final double ENCODER_PULSES_PER_REVOLUTION = 256;
public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
/ ENCODER_PULSES_PER_REVOLUTION;
- public static final int MAINTAIN_CLIMBED_POSITION = 0;
- public static final int TIME_TO_CLIMB_FOR = 0;
+
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 rightDriveTrainPiston;
+ // private final Solenoid leftDriveTrainPiston;
+ private final DoubleSolenoid gearManipulatorPiston;
private ADXRS450_Gyro imu;
- private boolean isClimbing;
- private static double CLIMBER_SPEED;;
-
private DriveTrain() {
// MOTOR CONTROLLERS
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
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.MODULE_NUMBER,
- Constants.DriveTrain.LEFT_GEAR_PISTON_FORWARD,
- Constants.DriveTrain.LEFT_GEAR_PISTON_REVERSE);
- rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
- Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
- Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
+ // leftDriveTrainPiston = new Solenoid(Constants.DriveTrain.PISTON_MODULE,
+ // Constants.DriveTrain.LEFT_GEAR_PISTON_PORT);
+ rightDriveTrainPiston = new DoubleSolenoid(
+ Constants.DriveTrain.PISTON_MODULE,
+ Constants.DriveTrain.DRIVETRAIN_GEAR_FORWARD,
+ Constants.DriveTrain.DRIVETRAIN_GEAR_REVERSE);
- CLIMBER_SPEED = Constants.DriveTrain.CLIMBER_SPEED;
+ gearManipulatorPiston = new DoubleSolenoid(
+ Constants.DriveTrain.PISTON_MODULE,
+ Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_FORWARD,
+ Constants.DriveTrain.GEAR_MANIPULATOR_PISTON_REVERSE);
}
public static DriveTrain getDriveTrain() {
}
// DRIVE METHODS
- public void setMotorValues(final double left, final double right) {
+ public void setMotorValues(double left, double right) {
+ left = MathLib.restrictToRange(left, -1.0, 1.0);
+ right = MathLib.restrictToRange(right, -1.0, 1.0);
+
frontLeft.set(left);
rearLeft.set(left);
frontRight.set(-right);
rearRight.set(-right);
- this.isClimbing = true;
}
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 tankDrive(double left, double right) {
+ robotDrive.tankDrive(left, right);
}
public void stop() {
setMotorValues(0, 0);
- this.isClimbing = false;
}
public double getLeftMotorVal() {
* @return a value that is the current setpoint for the piston kReverse or
* KForward
*/
- public Value getLeftGearPistonValue() {
- return leftGearPiston.get();
- }
+ // public boolean 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) {
- leftGearPiston.set(gear);
- rightGearPiston.set(gear);
- }
+ System.out.println("shifting to " + gear);
+ rightDriveTrainPiston.set(gear);
+ System.out.println("after: " + this.getRightDriveTrainPiston());
- @Override
- protected void initDefaultCommand() {
- setDefaultCommand(new JoystickDrive());
+ //
+ // if (gear == Constants.DriveTrain.FORWARD_PISTON_VALUE)
+ // leftDriveTrainPiston.set(Constants.DriveTrain.EXTEND_VALUE);
+ // else
+ // leftDriveTrainPiston.set(Constants.DriveTrain.RETRACT_VALUE);
}
- public boolean isClimbing() {
- return this.isClimbing;
+ public Value getGearManipulatorPistonValue() {
+ return gearManipulatorPiston.get();
}
- public void setClimbing(boolean isClimbing) {
- this.isClimbing = isClimbing;
+ public void extendGearManipulatorPiston() {
+ gearManipulatorPiston.set(Constants.DriveTrain.FORWARD_PISTON_VALUE);
}
- public double getClimbingSpeed() {
- return this.CLIMBER_SPEED;
+ public void retractGearManipulatorPiston() {
+ gearManipulatorPiston.set(Constants.DriveTrain.REVERSE_PISTON_VALUE);
}
+ @Override
+ protected void initDefaultCommand() {
+ setDefaultCommand(new JoystickDrive());
+ }
}
projects / 3501 / 2017steamworks / blobdiff