Commit | Line | Data |
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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
d9475515 | 3 | import org.usfirst.frc.team3501.robot.CheesyDriveHelper; |
38a404b3 | 4 | import org.usfirst.frc.team3501.robot.Constants; |
33141cdd | 5 | import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive; |
111dc444 | 6 | |
38a404b3 | 7 | import edu.wpi.first.wpilibj.CANTalon; |
111dc444 | 8 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; |
d9c04720 | 9 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
2aea5cc2 | 10 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; |
111dc444 | 11 | import edu.wpi.first.wpilibj.Encoder; |
33141cdd KZ |
12 | import edu.wpi.first.wpilibj.RobotDrive; |
13 | import edu.wpi.first.wpilibj.command.PIDSubsystem; | |
14 | ||
15 | public class DriveTrain extends PIDSubsystem { | |
8d270bbc | 16 | // Determines if the "front" of the robot has been reversed |
571a0e2a | 17 | private boolean outputFlipped = false; |
8d270bbc | 18 | |
fb75626b | 19 | private static double pidOutput = 0; |
38a404b3 | 20 | |
1884c3cf | 21 | private Encoder leftEncoder, rightEncoder; |
96215d97 | 22 | |
d7bf2340 | 23 | private CANTalon frontLeft, frontRight, rearLeft, rearRight; |
33141cdd KZ |
24 | private RobotDrive robotDrive; |
25 | ||
d9c04720 | 26 | private DoubleSolenoid leftGearPiston, rightGearPiston; |
fb75626b | 27 | |
d9475515 HD |
28 | private CheesyDriveHelper cheese; |
29 | ||
9e65c056 ME |
30 | // Drivetrain specific constants that relate to the inches per pulse value for |
31 | // the encoders | |
71d73690 | 32 | |
d7bf2340 | 33 | public DriveTrain() { |
fb75626b KZ |
34 | super(Constants.DriveTrain.kp, Constants.DriveTrain.ki, |
35 | Constants.DriveTrain.kd); | |
33141cdd | 36 | |
e1f7a742 HD |
37 | frontLeft = new CANTalon(Constants.DriveTrain.DRIVE_FRONT_LEFT); |
38 | frontRight = new CANTalon(Constants.DriveTrain.DRIVE_FRONT_RIGHT); | |
39 | rearLeft = new CANTalon(Constants.DriveTrain.DRIVE_REAR_LEFT); | |
40 | rearRight = new CANTalon(Constants.DriveTrain.DRIVE_REAR_RIGHT); | |
1884c3cf | 41 | |
33141cdd | 42 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); |
96215d97 | 43 | |
d7bf2340 KZ |
44 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, |
45 | Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X); | |
46 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, | |
47 | Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X); | |
45bdf5b9 KZ |
48 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); |
49 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
33141cdd KZ |
50 | |
51 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
52 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
53 | ||
33141cdd | 54 | this.disable(); |
d004deee | 55 | |
e1f7a742 | 56 | leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_SHIFT_MODULE, |
43338192 HD |
57 | Constants.DriveTrain.LEFT_SHIFT_FORWARD, |
58 | Constants.DriveTrain.LEFT_SHIFT_REVERSE); | |
59 | rightGearPiston = new DoubleSolenoid( | |
60 | Constants.DriveTrain.RIGHT_SHIFT_MODULE, | |
61 | Constants.DriveTrain.RIGHT_SHIFT_FORWARD, | |
62 | Constants.DriveTrain.RIGHT_SHIFT_REVERSE); | |
d9475515 HD |
63 | |
64 | cheese = new CheesyDriveHelper(this); | |
d7bf2340 KZ |
65 | } |
66 | ||
67 | @Override | |
68 | protected void initDefaultCommand() { | |
33141cdd KZ |
69 | setDefaultCommand(new JoystickDrive()); |
70 | } | |
71 | ||
7a4df3c5 | 72 | // Print tne PID Output |
33141cdd KZ |
73 | public void printOutput() { |
74 | System.out.println("PIDOutput: " + pidOutput); | |
75 | } | |
76 | ||
77 | private double getAvgEncoderDistance() { | |
78 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
79 | } | |
80 | ||
7a4df3c5 KZ |
81 | // Whether or not the PID Controller thinks we have reached the target |
82 | // setpoint | |
33141cdd KZ |
83 | public boolean reachedTarget() { |
84 | if (this.onTarget()) { | |
85 | this.disable(); | |
86 | return true; | |
87 | } else { | |
88 | return false; | |
89 | } | |
90 | } | |
91 | ||
92 | public void stop() { | |
43338192 | 93 | setMotorSpeeds(0, 0); |
d7bf2340 KZ |
94 | } |
95 | ||
96 | public void resetEncoders() { | |
97 | leftEncoder.reset(); | |
98 | rightEncoder.reset(); | |
99 | } | |
100 | ||
d7bf2340 | 101 | public double getRightSpeed() { |
6833a887 | 102 | return rightEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
103 | } |
104 | ||
105 | public double getLeftSpeed() { | |
6833a887 | 106 | return leftEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
107 | } |
108 | ||
109 | public double getSpeed() { | |
6833a887 | 110 | return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second |
d7bf2340 KZ |
111 | } |
112 | ||
d7bf2340 | 113 | public double getRightDistance() { |
6833a887 | 114 | return rightEncoder.getDistance(); // in inches |
d7bf2340 KZ |
115 | } |
116 | ||
d7bf2340 | 117 | public double getLeftDistance() { |
6833a887 | 118 | return leftEncoder.getDistance(); // in inches |
d7bf2340 KZ |
119 | } |
120 | ||
7a4df3c5 KZ |
121 | // Get error between the setpoint of PID Controller and the current state of |
122 | // the robot | |
33141cdd | 123 | public double getError() { |
f8bfcc62 | 124 | return Math.abs(this.getSetpoint() - getAvgEncoderDistance()); |
33141cdd KZ |
125 | } |
126 | ||
127 | public void printEncoder(int i, int n) { | |
128 | if (i % n == 0) { | |
129 | System.out.println("Left: " + this.getLeftDistance()); | |
130 | System.out.println("Right: " + this.getRightDistance()); | |
131 | ||
132 | } | |
133 | } | |
134 | ||
7a4df3c5 KZ |
135 | /* |
136 | * returns the PID output that is returned by the PID Controller | |
137 | */ | |
33141cdd KZ |
138 | public double getOutput() { |
139 | return pidOutput; | |
140 | } | |
141 | ||
7a4df3c5 | 142 | // Updates the PID constants based on which control mode is being used |
33141cdd | 143 | public void updatePID() { |
f8bfcc62 HD |
144 | this.getPIDController().setPID(Constants.DriveTrain.kp, |
145 | Constants.DriveTrain.ki, Constants.DriveTrain.kd); | |
33141cdd KZ |
146 | } |
147 | ||
148 | public CANTalon getFrontLeft() { | |
149 | return frontLeft; | |
150 | } | |
151 | ||
152 | public CANTalon getFrontRight() { | |
153 | return frontRight; | |
154 | } | |
155 | ||
156 | public CANTalon getRearLeft() { | |
157 | return rearLeft; | |
158 | } | |
159 | ||
160 | public CANTalon getRearRight() { | |
161 | return rearRight; | |
162 | } | |
163 | ||
7a4df3c5 KZ |
164 | /* |
165 | * Method is a required method that the PID Subsystem uses to return the | |
166 | * calculated PID value to the driver | |
7236fc11 | 167 | * |
7a4df3c5 KZ |
168 | * @param Gives the user the output from the PID algorithm that is calculated |
169 | * internally | |
7236fc11 | 170 | * |
7a4df3c5 KZ |
171 | * Body: Uses the output, does some filtering and drives the robot |
172 | */ | |
33141cdd KZ |
173 | @Override |
174 | protected void usePIDOutput(double output) { | |
175 | double left = 0; | |
176 | double right = 0; | |
f8bfcc62 HD |
177 | double drift = this.getLeftDistance() - this.getRightDistance(); |
178 | if (Math.abs(output) > 0 && Math.abs(output) < 0.3) | |
179 | output = Math.signum(output) * 0.3; | |
180 | left = output; | |
181 | right = output + drift * Constants.DriveTrain.kp / 10; | |
43338192 | 182 | setMotorSpeeds(left, right); |
33141cdd | 183 | pidOutput = output; |
d7bf2340 KZ |
184 | } |
185 | ||
33141cdd KZ |
186 | @Override |
187 | protected double returnPIDInput() { | |
188 | return sensorFeedback(); | |
d7bf2340 | 189 | } |
33141cdd | 190 | |
7a4df3c5 | 191 | /* |
c688e9da | 192 | * Checks the drive mode |
7236fc11 | 193 | * |
7e360ef5 LM |
194 | * @return the current state of the robot in each state Average distance from |
195 | * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE | |
7a4df3c5 | 196 | */ |
33141cdd | 197 | private double sensorFeedback() { |
f8bfcc62 | 198 | return getAvgEncoderDistance(); |
33141cdd KZ |
199 | } |
200 | ||
43338192 | 201 | public void joystickDrive(double left, double right) { |
8d270bbc | 202 | // Handle flipping of the "front" of the robot |
43338192 | 203 | double k = (isFlipped() ? -1 : 1); |
d9475515 HD |
204 | cheese.cheesyDrive(-left * k, -right, |
205 | getGearPistonValue() == Constants.DriveTrain.HIGH_GEAR); | |
33141cdd KZ |
206 | } |
207 | ||
208 | public void setMotorSpeeds(double left, double right) { | |
ba29a57a | 209 | double k = (isFlipped() ? -1 : 1); |
7236fc11 ME |
210 | /* |
211 | * cheese.cheesyDrive(-left * k, -right, getGearPistonValue() == | |
212 | * Constants.DriveTrain.HIGH_GEAR); | |
213 | */ | |
214 | ||
215 | frontLeft.set(left); | |
216 | rearLeft.set(left); | |
217 | frontRight.set(right); | |
218 | rearRight.set(right); | |
33141cdd KZ |
219 | } |
220 | ||
571a0e2a HD |
221 | /** |
222 | * @return a value that is the current setpoint for the piston (kReverse or | |
223 | * kForward) | |
7a4df3c5 | 224 | */ |
571a0e2a HD |
225 | public Value getGearPistonValue() { |
226 | return leftGearPiston.get(); // Pistons should always be in the same state | |
2a099bc6 KZ |
227 | } |
228 | ||
571a0e2a | 229 | /** |
7a4df3c5 KZ |
230 | * Changes the ball shift gear assembly to high |
231 | */ | |
2a099bc6 KZ |
232 | public void setHighGear() { |
233 | changeGear(Constants.DriveTrain.HIGH_GEAR); | |
234 | } | |
235 | ||
571a0e2a | 236 | /** |
7a4df3c5 KZ |
237 | * Changes the ball shift gear assembly to low |
238 | */ | |
2a099bc6 KZ |
239 | public void setLowGear() { |
240 | changeGear(Constants.DriveTrain.LOW_GEAR); | |
241 | } | |
242 | ||
571a0e2a HD |
243 | /** |
244 | * Changes the gear to a DoubleSolenoid.Value | |
7a4df3c5 | 245 | */ |
2a099bc6 KZ |
246 | public void changeGear(DoubleSolenoid.Value gear) { |
247 | leftGearPiston.set(gear); | |
248 | rightGearPiston.set(gear); | |
249 | } | |
600a1a1c | 250 | |
571a0e2a HD |
251 | /** |
252 | * Switches drivetrain gears from high to low or low to high | |
253 | */ | |
254 | public void switchGear() { | |
255 | Value currentValue = getGearPistonValue(); | |
7236fc11 ME |
256 | Value setValue = (currentValue == Constants.DriveTrain.HIGH_GEAR) |
257 | ? Constants.DriveTrain.LOW_GEAR : Constants.DriveTrain.HIGH_GEAR; | |
571a0e2a HD |
258 | changeGear(setValue); |
259 | } | |
260 | ||
261 | /** | |
262 | * Toggle whether the motor outputs are flipped, effectively switching which | |
263 | * side of the robot is the front. | |
264 | */ | |
265 | public void toggleFlipped() { | |
266 | outputFlipped = !outputFlipped; | |
267 | } | |
268 | ||
269 | public boolean isFlipped() { | |
270 | return outputFlipped; | |
271 | } | |
272 | ||
38a404b3 | 273 | } |