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