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.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.RobotDrive;
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
+ 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 = 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;
+
private static DriveTrain driveTrain;
+
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
private final RobotDrive robotDrive;
private final Encoder leftEncoder, rightEncoder;
+ private final DoubleSolenoid rightDriveTrainPiston;
+ // private final Solenoid leftDriveTrainPiston;
+ private final DoubleSolenoid gearManipulatorPiston;
+
+ private ADXRS450_Gyro imu;
private DriveTrain() {
// MOTOR CONTROLLERS
// ENCODERS
leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
- Constants.DriveTrain.ENCODER_LEFT_B);
+ Constants.DriveTrain.ENCODER_LEFT_B, false, Encoder.EncodingType.k4X);
rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
- Constants.DriveTrain.ENCODER_RIGHT_B);
+ Constants.DriveTrain.ENCODER_RIGHT_B, false, Encoder.EncodingType.k4X);
- leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
- rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+ leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
+ rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
// ROBOT DRIVE
robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
+
+ this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
+
+ // TODO: Not sure if MODULE_NUMBER should be the same for both
+ // 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);
+
+ 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);
}
public void joystickDrive(final double thrust, final double twist) {
- robotDrive.arcadeDrive(thrust, twist, true);
- }
-
- public void stop() {
- setMotorValues(0, 0);
+ 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 double getFrontLeftMotorVal() {
- return frontLeft.get();
+ public void tankDrive(double left, double right) {
+ robotDrive.tankDrive(left, right);
}
- 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 void stop() {
+ setMotorValues(0, 0);
}
- public CANTalon getRearLeft() {
- return rearLeft;
+ public double getLeftMotorVal() {
+ return (frontLeft.get() + rearLeft.get()) / 2;
}
- public CANTalon getRearRight() {
- return rearRight;
+ public double getRightMotorVal() {
+ return (frontRight.get() + rearRight.get()) / 2;
}
// ENCODER METHODS
- public double getLeftEncoder() {
+ public double getLeftEncoderDistance() {
return leftEncoder.getDistance();
}
- public double getRightEncoder() {
+ 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;
}
return (getLeftSpeed() + getRightSpeed()) / 2.0;
}
+ // ------Gyro------//
+ public double getAngle() {
+ return this.imu.getAngle();
+ }
+
+ public void resetGyro() {
+ this.imu.reset();
+ }
+
+ /*
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
+ */
+ // public boolean getLeftDriveTrainPiston() {
+ // return leftDriveTrainPiston.get();
+ // }
+
+ /*
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
+ */
+ public Value getRightDriveTrainPiston() {
+ return rightDriveTrainPiston.get();
+ }
+
+ /*
+ * Changes the ball shift gear assembly to high
+ */
+ public void setHighGear() {
+ changeGear(Constants.DriveTrain.FORWARD_PISTON_VALUE);
+ }
+
+ /*
+ * Changes the ball shift gear assembly to low
+ */
+ public void setLowGear() {
+ changeGear(Constants.DriveTrain.REVERSE_PISTON_VALUE);
+ }
+
+ /*
+ * Changes the gear to a DoubleSolenoid.Value
+ */
+ private void changeGear(DoubleSolenoid.Value gear) {
+ System.out.println("shifting to " + gear);
+ rightDriveTrainPiston.set(gear);
+ System.out.println("after: " + this.getRightDriveTrainPiston());
+
+ //
+ // if (gear == Constants.DriveTrain.FORWARD_PISTON_VALUE)
+ // leftDriveTrainPiston.set(Constants.DriveTrain.EXTEND_VALUE);
+ // else
+ // leftDriveTrainPiston.set(Constants.DriveTrain.RETRACT_VALUE);
+ }
+
+ public Value getGearManipulatorPistonValue() {
+ return gearManipulatorPiston.get();
+ }
+
+ public void extendGearManipulatorPiston() {
+ gearManipulatorPiston.set(Constants.DriveTrain.FORWARD_PISTON_VALUE);
+ }
+
+ public void retractGearManipulatorPiston() {
+ gearManipulatorPiston.set(Constants.DriveTrain.REVERSE_PISTON_VALUE);
+ }
+
@Override
protected void initDefaultCommand() {
setDefaultCommand(new JoystickDrive());
}
-
}
projects / 3501 / 2017steamworks / blobdiff