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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
111dc444 | 4 | |
38a404b3 | 5 | import edu.wpi.first.wpilibj.CANTalon; |
c96e6803 | 6 | import edu.wpi.first.wpilibj.CANTalon.TalonControlMode; |
111dc444 YN |
7 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; |
8 | import edu.wpi.first.wpilibj.Encoder; | |
c96e6803 | 9 | import edu.wpi.first.wpilibj.PIDController; |
38a404b3 KZ |
10 | import edu.wpi.first.wpilibj.command.Subsystem; |
11 | ||
12 | public class DriveTrain extends Subsystem { | |
1884c3cf KZ |
13 | // Drivetrain related objects |
14 | private Encoder leftEncoder, rightEncoder; | |
d7bf2340 | 15 | private CANTalon frontLeft, frontRight, rearLeft, rearRight; |
c96e6803 | 16 | private PIDController frontLeftC, frontRightC, rearLeftC, rearRightC; |
1884c3cf KZ |
17 | // Drivetrain specific constants that relate to the inches per pulse value for |
18 | // the encoders | |
d7bf2340 | 19 | private final static double WHEEL_DIAMETER = 6.0; // in inches |
6833a887 YN |
20 | private final static double PULSES_PER_ROTATION = 256; // in pulses |
21 | private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches | |
22 | private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches | |
d7bf2340 KZ |
23 | public final static double INCHES_PER_PULSE = (((Math.PI) |
24 | * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER) | |
25 | * WHEEL_DIAMETER; | |
c96e6803 YN |
26 | // Drivetrain specific constants that relate to the PID controllers |
27 | private final static double Kp = 1.0, Ki = 0.0, Kd = 0.0; | |
d7bf2340 KZ |
28 | |
29 | public DriveTrain() { | |
30 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); | |
31 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
32 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
33 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
c96e6803 YN |
34 | this.configureTalons(); |
35 | ||
36 | frontLeftC = new PIDController(Kp, Ki, Kd, frontLeft, frontLeft); | |
37 | frontRightC = new PIDController(Kp, Ki, Kd, frontRight, frontRight); | |
38 | rearLeftC = new PIDController(Kp, Ki, Kd, frontLeft, rearLeft); | |
39 | rearRightC = new PIDController(Kp, Ki, Kd, frontRight, rearRight); | |
40 | this.enablePIDControllers(); | |
1884c3cf | 41 | |
d7bf2340 KZ |
42 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, |
43 | Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X); | |
44 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, | |
45 | Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X); | |
46 | leftEncoder.setDistancePerPulse(INCHES_PER_PULSE); | |
47 | rightEncoder.setDistancePerPulse(INCHES_PER_PULSE); | |
48 | } | |
49 | ||
50 | @Override | |
51 | protected void initDefaultCommand() { | |
52 | } | |
53 | ||
c96e6803 YN |
54 | public void configureTalons() { |
55 | frontLeft.changeControlMode(TalonControlMode.Speed); | |
56 | frontRight.changeControlMode(TalonControlMode.Speed); | |
57 | rearLeft.changeControlMode(TalonControlMode.Speed); | |
58 | rearRight.changeControlMode(TalonControlMode.Speed); | |
59 | ||
60 | frontLeft.configEncoderCodesPerRev(256); | |
61 | frontRight.configEncoderCodesPerRev(256); | |
62 | rearLeft.configEncoderCodesPerRev(256); | |
63 | rearRight.configEncoderCodesPerRev(256); | |
64 | ||
65 | frontLeft.enableControl(); | |
66 | frontRight.enableControl(); | |
67 | rearLeft.enableControl(); | |
68 | rearRight.enableControl(); | |
69 | } | |
70 | ||
71 | public void enablePIDControllers() { | |
72 | frontLeftC.enable(); | |
73 | frontRightC.enable(); | |
74 | rearLeftC.enable(); | |
75 | rearRightC.enable(); | |
76 | } | |
77 | ||
78 | public void drive(double left, double right) { | |
79 | frontLeftC.setSetpoint(left); | |
80 | rearLeftC.setSetpoint(left); | |
81 | frontRightC.setSetpoint(right); | |
82 | rearRightC.setSetpoint(right); | |
83 | } | |
84 | ||
d7bf2340 KZ |
85 | public void resetEncoders() { |
86 | leftEncoder.reset(); | |
87 | rightEncoder.reset(); | |
88 | } | |
89 | ||
d7bf2340 | 90 | public double getRightSpeed() { |
6833a887 | 91 | return rightEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
92 | } |
93 | ||
94 | public double getLeftSpeed() { | |
6833a887 | 95 | return leftEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
96 | } |
97 | ||
98 | public double getSpeed() { | |
6833a887 | 99 | return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second |
d7bf2340 KZ |
100 | } |
101 | ||
d7bf2340 | 102 | public double getRightDistance() { |
6833a887 | 103 | return rightEncoder.getDistance(); // in inches |
d7bf2340 KZ |
104 | } |
105 | ||
d7bf2340 | 106 | public double getLeftDistance() { |
6833a887 | 107 | return leftEncoder.getDistance(); // in inches |
d7bf2340 KZ |
108 | } |
109 | ||
110 | public double getDistance() { | |
6833a887 | 111 | return (getRightDistance() + getLeftDistance()) / 2.0; // in inches |
d7bf2340 KZ |
112 | } |
113 | ||
114 | public void stop() { | |
115 | setMotorSpeeds(0, 0); | |
116 | } | |
117 | ||
118 | public void setMotorSpeeds(double leftSpeed, double rightSpeed) { | |
1884c3cf KZ |
119 | // speed passed to right motor is negative because right motor rotates in |
120 | // opposite direction | |
d7bf2340 KZ |
121 | this.frontLeft.set(leftSpeed); |
122 | this.frontRight.set(-rightSpeed); | |
123 | this.rearLeft.set(leftSpeed); | |
124 | this.rearRight.set(-rightSpeed); | |
d7bf2340 | 125 | } |
38a404b3 | 126 | } |