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1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
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4 | import org.usfirst.frc.team3501.robot.GyroLib; |
5 | import org.usfirst.frc.team3501.robot.MathLib; | |
6 | import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive; | |
111dc444 | 7 | |
38a404b3 | 8 | import edu.wpi.first.wpilibj.CANTalon; |
111dc444 | 9 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; |
d9c04720 | 10 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
2aea5cc2 | 11 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; |
111dc444 | 12 | import edu.wpi.first.wpilibj.Encoder; |
b54ad73b | 13 | import edu.wpi.first.wpilibj.I2C; |
33141cdd KZ |
14 | import edu.wpi.first.wpilibj.RobotDrive; |
15 | import edu.wpi.first.wpilibj.command.PIDSubsystem; | |
16 | ||
17 | public class DriveTrain extends PIDSubsystem { | |
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18 | private static double kp = 0.013, ki = 0.000015, kd = -0.002; |
19 | private static double gp = 0.018, gi = 0.000015, gd = 0; | |
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20 | private static double pidOutput = 0; |
21 | private static double encoderTolerance = 8.0, gyroTolerance = 5.0; | |
22 | private int DRIVE_MODE = 1; | |
23 | ||
24 | private static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3; | |
38a404b3 | 25 | |
1884c3cf | 26 | private Encoder leftEncoder, rightEncoder; |
d7bf2340 | 27 | private CANTalon frontLeft, frontRight, rearLeft, rearRight; |
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28 | private RobotDrive robotDrive; |
29 | ||
30 | private GyroLib gyro; | |
d9c04720 SC |
31 | private DoubleSolenoid leftGearPiston, rightGearPiston; |
32 | // Drivetrain specific constants that relate to the inches per pulse value for | |
33 | // the encoders | |
34 | private final static double WHEEL_DIAMETER = 6.0; // in inches | |
35 | private final static double PULSES_PER_ROTATION = 256; // in pulses | |
36 | private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches | |
37 | private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches | |
38 | public final static double INCHES_PER_PULSE = (((Math.PI) | |
39 | * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) | |
40 | / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER; | |
41 | ||
42 | // Drivetrain specific constants that relate to the PID controllers | |
43 | private final static double Kp = 1.0, Ki = 0.0, | |
44 | Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) | |
2a099bc6 | 45 | / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER; |
71d73690 | 46 | |
d7bf2340 | 47 | public DriveTrain() { |
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48 | super(kp, ki, kd); |
49 | ||
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50 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); |
51 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
52 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
53 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
1884c3cf | 54 | |
33141cdd | 55 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); |
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56 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, |
57 | Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X); | |
58 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, | |
59 | Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X); | |
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60 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); |
61 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
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62 | |
63 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
64 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
65 | ||
66 | gyro = new GyroLib(I2C.Port.kOnboard, false); | |
67 | ||
68 | DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE; | |
69 | setEncoderPID(); | |
70 | this.disable(); | |
71 | gyro.start(); | |
d004deee | 72 | |
d9c04720 SC |
73 | leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_FORWARD, |
74 | +Constants.DriveTrain.LEFT_REVERSE); | |
75 | rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.RIGHT_FORWARD, | |
76 | Constants.DriveTrain.RIGHT_REVERSE); | |
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77 | } |
78 | ||
79 | @Override | |
80 | protected void initDefaultCommand() { | |
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81 | setDefaultCommand(new JoystickDrive()); |
82 | } | |
83 | ||
84 | public void printOutput() { | |
85 | System.out.println("PIDOutput: " + pidOutput); | |
86 | } | |
87 | ||
88 | private double getAvgEncoderDistance() { | |
89 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
90 | } | |
91 | ||
92 | public boolean reachedTarget() { | |
93 | if (this.onTarget()) { | |
94 | this.disable(); | |
95 | return true; | |
96 | } else { | |
97 | return false; | |
98 | } | |
99 | } | |
100 | ||
101 | public void stop() { | |
102 | drive(0, 0); | |
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103 | } |
104 | ||
105 | public void resetEncoders() { | |
106 | leftEncoder.reset(); | |
107 | rightEncoder.reset(); | |
108 | } | |
109 | ||
d7bf2340 | 110 | public double getRightSpeed() { |
6833a887 | 111 | return rightEncoder.getRate(); // in inches per second |
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112 | } |
113 | ||
114 | public double getLeftSpeed() { | |
6833a887 | 115 | return leftEncoder.getRate(); // in inches per second |
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116 | } |
117 | ||
118 | public double getSpeed() { | |
6833a887 | 119 | return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second |
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120 | } |
121 | ||
d7bf2340 | 122 | public double getRightDistance() { |
6833a887 | 123 | return rightEncoder.getDistance(); // in inches |
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124 | } |
125 | ||
d7bf2340 | 126 | public double getLeftDistance() { |
6833a887 | 127 | return leftEncoder.getDistance(); // in inches |
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128 | } |
129 | ||
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130 | public double getError() { |
131 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) | |
132 | return Math.abs(this.getSetpoint() - getAvgEncoderDistance()); | |
133 | else | |
134 | return Math.abs(this.getSetpoint() + getGyroAngle()); | |
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135 | } |
136 | ||
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137 | public double getGyroAngle() { |
138 | return gyro.getRotationZ().getAngle(); | |
139 | } | |
140 | ||
141 | public void resetGyro() { | |
142 | gyro.reset(); | |
143 | } | |
144 | ||
145 | public void printEncoder(int i, int n) { | |
146 | if (i % n == 0) { | |
147 | System.out.println("Left: " + this.getLeftDistance()); | |
148 | System.out.println("Right: " + this.getRightDistance()); | |
149 | ||
150 | } | |
151 | } | |
152 | ||
153 | public void printGyroOutput() { | |
154 | System.out.println("Gyro Angle" + -this.getGyroAngle()); | |
155 | } | |
156 | ||
157 | public double getOutput() { | |
158 | return pidOutput; | |
159 | } | |
160 | ||
161 | public void updatePID() { | |
162 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) | |
163 | this.getPIDController().setPID(kp, ki, kd); | |
164 | else | |
165 | this.getPIDController().setPID(gp, gd, gi); | |
166 | } | |
167 | ||
168 | public CANTalon getFrontLeft() { | |
169 | return frontLeft; | |
170 | } | |
171 | ||
172 | public CANTalon getFrontRight() { | |
173 | return frontRight; | |
174 | } | |
175 | ||
176 | public CANTalon getRearLeft() { | |
177 | return rearLeft; | |
178 | } | |
179 | ||
180 | public CANTalon getRearRight() { | |
181 | return rearRight; | |
182 | } | |
183 | ||
184 | public int getMode() { | |
185 | return DRIVE_MODE; | |
186 | } | |
187 | ||
188 | @Override | |
189 | protected void usePIDOutput(double output) { | |
190 | double left = 0; | |
191 | double right = 0; | |
192 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) { | |
193 | double drift = this.getLeftDistance() - this.getRightDistance(); | |
194 | if (Math.abs(output) > 0 && Math.abs(output) < 0.3) | |
195 | output = Math.signum(output) * 0.3; | |
196 | left = output; | |
197 | right = output + drift * kp / 10; | |
198 | } | |
199 | else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) { | |
200 | left = output; | |
201 | right = -output; | |
202 | } | |
203 | drive(left, right); | |
204 | pidOutput = output; | |
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205 | } |
206 | ||
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207 | @Override |
208 | protected double returnPIDInput() { | |
209 | return sensorFeedback(); | |
d7bf2340 | 210 | } |
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211 | |
212 | private double sensorFeedback() { | |
213 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) | |
214 | return getAvgEncoderDistance(); | |
215 | else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) | |
216 | return -this.getGyroAngle(); | |
217 | // counterclockwise is positive on joystick but we want it to be negative | |
218 | else | |
219 | return 0; | |
220 | } | |
221 | ||
222 | public void drive(double left, double right) { | |
223 | robotDrive.tankDrive(-left, -right); | |
224 | // dunno why but inverted drive (- values is forward) | |
225 | } | |
226 | ||
227 | public void driveDistance(double dist, double maxTimeOut) { | |
228 | dist = MathLib.constrain(dist, -100, 100); | |
229 | setEncoderPID(); | |
230 | setSetpoint(dist); | |
231 | } | |
232 | ||
233 | public void setEncoderPID() { | |
234 | DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE; | |
235 | this.updatePID(); | |
236 | this.setAbsoluteTolerance(encoderTolerance); | |
237 | this.setOutputRange(-1.0, 1.0); | |
238 | this.setInputRange(-200.0, 200.0); | |
239 | this.enable(); | |
240 | } | |
241 | ||
242 | private void setGyroPID() { | |
243 | DRIVE_MODE = Constants.DriveTrain.GYRO_MODE; | |
244 | this.updatePID(); | |
245 | this.getPIDController().setPID(gp, gi, gd); | |
246 | ||
247 | this.setAbsoluteTolerance(gyroTolerance); | |
248 | this.setOutputRange(-1.0, 1.0); | |
249 | this.setInputRange(-360.0, 360.0); | |
250 | this.enable(); | |
251 | } | |
252 | ||
253 | public void turnAngle(double angle) { | |
254 | angle = MathLib.constrain(angle, -360, 360); | |
255 | setGyroPID(); | |
256 | setSetpoint(angle); | |
257 | } | |
258 | ||
259 | public void setMotorSpeeds(double left, double right) { | |
260 | // positive setpoint to left side makes it go backwards | |
261 | // positive setpoint to right side makes it go forwards. | |
262 | frontLeft.set(-left); | |
263 | rearLeft.set(-left); | |
264 | frontRight.set(right); | |
265 | rearRight.set(right); | |
266 | } | |
267 | ||
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268 | public Value getLeftGearPistonValue() { |
269 | return leftGearPiston.get(); | |
270 | } | |
271 | ||
272 | public Value getRightGearPistonValue() { | |
273 | return rightGearPiston.get(); | |
274 | } | |
275 | ||
276 | public void setHighGear() { | |
277 | changeGear(Constants.DriveTrain.HIGH_GEAR); | |
278 | } | |
279 | ||
280 | public void setLowGear() { | |
281 | changeGear(Constants.DriveTrain.LOW_GEAR); | |
282 | } | |
283 | ||
284 | public void changeGear(DoubleSolenoid.Value gear) { | |
285 | leftGearPiston.set(gear); | |
286 | rightGearPiston.set(gear); | |
287 | } | |
38a404b3 | 288 | } |