private double driveI;
private double driveD;
- public DriveDistance(double distance, double maxTimeOut) {
- requires(driveTrain);
- this.maxTimeOut = maxTimeOut;
- this.target = distance;
-
- private double target;
- private double gyroP;
- private double gyroI;
- private double gyroD;
-
- private double driveP;
- private double driveI;
- private double driveD;
-
public DriveDistance(double distance, double motorVal) {
requires(driveTrain);
this.maxTimeOut = maxTimeOut;
driveTrain.printEncoderOutput();
// System.out.println("turn: " + xVal);
- double leftDrive = yVal - xVal;
- double rightDrive = yVal + xVal;
-
- this.driveTrain.setMotorValues(leftDrive, rightDrive);
-
- driveTrain.printEncoderOutput();
- // System.out.println("motorval: " + yVal);
}
@Override
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.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 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 = 0.009, defaultGyroI = 0.00000,
- defaultGyroD = -0.000;
private double gyroZero = 0;
public static final double WHEEL_DIAMETER = 6; // inches
private final DoubleSolenoid leftGearPiston, rightGearPiston;
private ADXRS450_Gyro imu;
- private BNO055 imu;
private DriveTrain() {
// MOTOR CONTROLLERS
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();
leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
public void resetGyro() {
this.imu.reset();
-
- 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() {