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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 { | |
643241da KZ |
18 | /* |
19 | * A setpoint is the value we want the PID controller to attempt to adjust the | |
20 | * system to | |
21 | * In other words, If we want to drive the robot 4 meters, the setpoint would | |
22 | * be 4 meters | |
23 | */ | |
24 | ||
1c94f230 KZ |
25 | // Encoder PID Proportional Constants P, I, and D |
26 | private static double EP = 0.013, EI = 0.000015, ED = -0.002; | |
27 | ||
28 | // Gyro PID Constants P, I, and D | |
29 | private static double GP = 0.018, GI = 0.000015, GD = 0; | |
33141cdd | 30 | private static double pidOutput = 0; |
1c94f230 KZ |
31 | |
32 | // PID Controller tolerances for the error | |
33141cdd | 33 | private static double encoderTolerance = 8.0, gyroTolerance = 5.0; |
1c94f230 KZ |
34 | |
35 | // Current Drive Mode Default Drive Mode is Manual | |
33141cdd KZ |
36 | private int DRIVE_MODE = 1; |
37 | ||
1c94f230 | 38 | // Different Drive Modes |
33141cdd | 39 | private static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3; |
38a404b3 | 40 | |
1884c3cf | 41 | private Encoder leftEncoder, rightEncoder; |
d7bf2340 | 42 | private CANTalon frontLeft, frontRight, rearLeft, rearRight; |
33141cdd KZ |
43 | private RobotDrive robotDrive; |
44 | ||
45 | private GyroLib gyro; | |
d9c04720 | 46 | private DoubleSolenoid leftGearPiston, rightGearPiston; |
71d73690 | 47 | |
d7bf2340 | 48 | public DriveTrain() { |
1c94f230 | 49 | super(EP, EI, ED); |
33141cdd | 50 | |
d7bf2340 KZ |
51 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); |
52 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
53 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
54 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
1884c3cf | 55 | |
33141cdd | 56 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); |
d7bf2340 KZ |
57 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, |
58 | Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X); | |
59 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, | |
60 | Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X); | |
45bdf5b9 KZ |
61 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); |
62 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
33141cdd KZ |
63 | |
64 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
65 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
66 | ||
67 | gyro = new GyroLib(I2C.Port.kOnboard, false); | |
68 | ||
69 | DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE; | |
70 | setEncoderPID(); | |
71 | this.disable(); | |
72 | gyro.start(); | |
d004deee | 73 | |
d9c04720 | 74 | leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_FORWARD, |
1c94f230 | 75 | Constants.DriveTrain.LEFT_REVERSE); |
d9c04720 SC |
76 | rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.RIGHT_FORWARD, |
77 | Constants.DriveTrain.RIGHT_REVERSE); | |
54c588d9 | 78 | Constants.DriveTrain.inverted = false; |
d7bf2340 KZ |
79 | } |
80 | ||
81 | @Override | |
82 | protected void initDefaultCommand() { | |
33141cdd KZ |
83 | setDefaultCommand(new JoystickDrive()); |
84 | } | |
85 | ||
1c94f230 | 86 | // Print tne PID Output |
33141cdd KZ |
87 | public void printOutput() { |
88 | System.out.println("PIDOutput: " + pidOutput); | |
89 | } | |
90 | ||
91 | private double getAvgEncoderDistance() { | |
92 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
93 | } | |
94 | ||
1c94f230 KZ |
95 | // Whether or not the PID Controller thinks we have reached the target |
96 | // setpoint | |
33141cdd KZ |
97 | public boolean reachedTarget() { |
98 | if (this.onTarget()) { | |
99 | this.disable(); | |
100 | return true; | |
101 | } else { | |
102 | return false; | |
103 | } | |
104 | } | |
105 | ||
106 | public void stop() { | |
107 | drive(0, 0); | |
d7bf2340 KZ |
108 | } |
109 | ||
110 | public void resetEncoders() { | |
111 | leftEncoder.reset(); | |
112 | rightEncoder.reset(); | |
113 | } | |
114 | ||
d7bf2340 | 115 | public double getRightSpeed() { |
6833a887 | 116 | return rightEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
117 | } |
118 | ||
119 | public double getLeftSpeed() { | |
6833a887 | 120 | return leftEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
121 | } |
122 | ||
123 | public double getSpeed() { | |
6833a887 | 124 | return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second |
d7bf2340 KZ |
125 | } |
126 | ||
d7bf2340 | 127 | public double getRightDistance() { |
6833a887 | 128 | return rightEncoder.getDistance(); // in inches |
d7bf2340 KZ |
129 | } |
130 | ||
d7bf2340 | 131 | public double getLeftDistance() { |
6833a887 | 132 | return leftEncoder.getDistance(); // in inches |
d7bf2340 KZ |
133 | } |
134 | ||
1c94f230 KZ |
135 | // Get error between the setpoint of PID Controller and the current state of |
136 | // the robot | |
33141cdd KZ |
137 | public double getError() { |
138 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) | |
139 | return Math.abs(this.getSetpoint() - getAvgEncoderDistance()); | |
140 | else | |
141 | return Math.abs(this.getSetpoint() + getGyroAngle()); | |
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142 | } |
143 | ||
33141cdd KZ |
144 | public double getGyroAngle() { |
145 | return gyro.getRotationZ().getAngle(); | |
146 | } | |
147 | ||
148 | public void resetGyro() { | |
149 | gyro.reset(); | |
150 | } | |
151 | ||
152 | public void printEncoder(int i, int n) { | |
153 | if (i % n == 0) { | |
154 | System.out.println("Left: " + this.getLeftDistance()); | |
155 | System.out.println("Right: " + this.getRightDistance()); | |
156 | ||
157 | } | |
158 | } | |
159 | ||
160 | public void printGyroOutput() { | |
161 | System.out.println("Gyro Angle" + -this.getGyroAngle()); | |
162 | } | |
163 | ||
1c94f230 KZ |
164 | /* |
165 | * returns the PID output that is returned by the PID Controller | |
166 | */ | |
33141cdd KZ |
167 | public double getOutput() { |
168 | return pidOutput; | |
169 | } | |
170 | ||
1c94f230 | 171 | // Updates the PID constants based on which control mode is being used |
33141cdd KZ |
172 | public void updatePID() { |
173 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) | |
1c94f230 | 174 | this.getPIDController().setPID(EP, EI, ED); |
33141cdd | 175 | else |
1c94f230 | 176 | this.getPIDController().setPID(GP, GD, GI); |
33141cdd KZ |
177 | } |
178 | ||
179 | public CANTalon getFrontLeft() { | |
180 | return frontLeft; | |
181 | } | |
182 | ||
183 | public CANTalon getFrontRight() { | |
184 | return frontRight; | |
185 | } | |
186 | ||
187 | public CANTalon getRearLeft() { | |
188 | return rearLeft; | |
189 | } | |
190 | ||
191 | public CANTalon getRearRight() { | |
192 | return rearRight; | |
193 | } | |
194 | ||
195 | public int getMode() { | |
196 | return DRIVE_MODE; | |
197 | } | |
198 | ||
1c94f230 KZ |
199 | /* |
200 | * Method is a required method that the PID Subsystem uses to return the | |
201 | * calculated PID value to the driver | |
643241da | 202 | * |
1c94f230 KZ |
203 | * @param Gives the user the output from the PID algorithm that is calculated |
204 | * internally | |
643241da | 205 | * |
1c94f230 KZ |
206 | * Body: Uses the output, does some filtering and drives the robot |
207 | */ | |
33141cdd KZ |
208 | @Override |
209 | protected void usePIDOutput(double output) { | |
210 | double left = 0; | |
211 | double right = 0; | |
212 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) { | |
213 | double drift = this.getLeftDistance() - this.getRightDistance(); | |
214 | if (Math.abs(output) > 0 && Math.abs(output) < 0.3) | |
215 | output = Math.signum(output) * 0.3; | |
216 | left = output; | |
1c94f230 | 217 | right = output + drift * EP / 10; |
33141cdd KZ |
218 | } |
219 | else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) { | |
220 | left = output; | |
221 | right = -output; | |
222 | } | |
223 | drive(left, right); | |
224 | pidOutput = output; | |
d7bf2340 KZ |
225 | } |
226 | ||
33141cdd KZ |
227 | @Override |
228 | protected double returnPIDInput() { | |
229 | return sensorFeedback(); | |
d7bf2340 | 230 | } |
33141cdd | 231 | |
1c94f230 KZ |
232 | /* |
233 | * Checks the drive mode | |
643241da | 234 | * |
1c94f230 KZ |
235 | * @return the current state of the robot in each state |
236 | * Average distance from both sides of tank drive for Encoder Mode | |
237 | * Angle from the gyro in GYRO_MODE | |
238 | */ | |
33141cdd KZ |
239 | private double sensorFeedback() { |
240 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) | |
241 | return getAvgEncoderDistance(); | |
242 | else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) | |
243 | return -this.getGyroAngle(); | |
244 | // counterclockwise is positive on joystick but we want it to be negative | |
245 | else | |
246 | return 0; | |
247 | } | |
248 | ||
1c94f230 KZ |
249 | /* |
250 | * @param left and right setpoints to set to the left and right side of tank | |
251 | * inverted is for Logan, wants the robot to invert all controls left = right | |
252 | * and right = left | |
253 | * negative input is required for the regular rotation because RobotDrive | |
254 | * tankdrive method drives inverted | |
255 | */ | |
33141cdd | 256 | public void drive(double left, double right) { |
33141cdd | 257 | // dunno why but inverted drive (- values is forward) |
54c588d9 CZ |
258 | if (!Constants.DriveTrain.inverted) |
259 | robotDrive.tankDrive(-left, | |
260 | -right); | |
261 | else | |
262 | robotDrive.tankDrive(right, left); | |
33141cdd KZ |
263 | } |
264 | ||
1c94f230 KZ |
265 | /* |
266 | * constrains the distance to within -100 and 100 since we aren't going to | |
267 | * drive more than 100 inches | |
643241da | 268 | * |
1c94f230 | 269 | * Configure Encoder PID |
643241da | 270 | * |
1c94f230 KZ |
271 | * Sets the setpoint to the PID subsystem |
272 | */ | |
33141cdd KZ |
273 | public void driveDistance(double dist, double maxTimeOut) { |
274 | dist = MathLib.constrain(dist, -100, 100); | |
275 | setEncoderPID(); | |
276 | setSetpoint(dist); | |
277 | } | |
278 | ||
1c94f230 KZ |
279 | /* |
280 | * Sets the encoder mode | |
281 | * Updates the PID constants sets the tolerance and sets output/input ranges | |
282 | * Enables the PID controllers | |
283 | */ | |
33141cdd KZ |
284 | public void setEncoderPID() { |
285 | DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE; | |
286 | this.updatePID(); | |
287 | this.setAbsoluteTolerance(encoderTolerance); | |
288 | this.setOutputRange(-1.0, 1.0); | |
289 | this.setInputRange(-200.0, 200.0); | |
290 | this.enable(); | |
291 | } | |
292 | ||
1c94f230 KZ |
293 | /* |
294 | * Sets the Gyro Mode | |
295 | * Updates the PID constants, sets the tolerance and sets output/input ranges | |
296 | * Enables the PID controllers | |
297 | */ | |
33141cdd KZ |
298 | private void setGyroPID() { |
299 | DRIVE_MODE = Constants.DriveTrain.GYRO_MODE; | |
300 | this.updatePID(); | |
1c94f230 | 301 | this.getPIDController().setPID(GP, GI, GD); |
33141cdd KZ |
302 | |
303 | this.setAbsoluteTolerance(gyroTolerance); | |
304 | this.setOutputRange(-1.0, 1.0); | |
305 | this.setInputRange(-360.0, 360.0); | |
306 | this.enable(); | |
307 | } | |
308 | ||
1c94f230 KZ |
309 | /* |
310 | * Turning method that should be used repeatedly in a command | |
643241da | 311 | * |
1c94f230 KZ |
312 | * First constrains the angle to within -360 and 360 since that is as much as |
313 | * we need to turn | |
643241da | 314 | * |
1c94f230 KZ |
315 | * Configures Gyro PID and sets the setpoint as an angle |
316 | */ | |
33141cdd KZ |
317 | public void turnAngle(double angle) { |
318 | angle = MathLib.constrain(angle, -360, 360); | |
319 | setGyroPID(); | |
320 | setSetpoint(angle); | |
321 | } | |
322 | ||
323 | public void setMotorSpeeds(double left, double right) { | |
324 | // positive setpoint to left side makes it go backwards | |
325 | // positive setpoint to right side makes it go forwards. | |
326 | frontLeft.set(-left); | |
327 | rearLeft.set(-left); | |
328 | frontRight.set(right); | |
329 | rearRight.set(right); | |
330 | } | |
331 | ||
1c94f230 KZ |
332 | /* |
333 | * @return a value that is the current setpoint for the piston | |
334 | * kReverse or kForward | |
335 | */ | |
2a099bc6 KZ |
336 | public Value getLeftGearPistonValue() { |
337 | return leftGearPiston.get(); | |
338 | } | |
339 | ||
1c94f230 KZ |
340 | /* |
341 | * @return a value that is the current setpoint for the piston | |
342 | * kReverse or kForward | |
343 | */ | |
2a099bc6 KZ |
344 | public Value getRightGearPistonValue() { |
345 | return rightGearPiston.get(); | |
346 | } | |
347 | ||
1c94f230 KZ |
348 | /* |
349 | * Changes the ball shift gear assembly to high | |
350 | */ | |
2a099bc6 KZ |
351 | public void setHighGear() { |
352 | changeGear(Constants.DriveTrain.HIGH_GEAR); | |
353 | } | |
354 | ||
1c94f230 KZ |
355 | /* |
356 | * Changes the ball shift gear assembly to low | |
357 | */ | |
2a099bc6 KZ |
358 | public void setLowGear() { |
359 | changeGear(Constants.DriveTrain.LOW_GEAR); | |
360 | } | |
361 | ||
1c94f230 KZ |
362 | /* |
363 | * changes the gear to a DoubleSolenoid.Value | |
364 | */ | |
2a099bc6 KZ |
365 | public void changeGear(DoubleSolenoid.Value gear) { |
366 | leftGearPiston.set(gear); | |
367 | rightGearPiston.set(gear); | |
368 | } | |
38a404b3 | 369 | } |