Commit | Line | Data |
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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
33141cdd | 4 | import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive; |
111dc444 | 5 | |
38a404b3 | 6 | import edu.wpi.first.wpilibj.CANTalon; |
111dc444 | 7 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; |
d9c04720 | 8 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
2aea5cc2 | 9 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; |
111dc444 | 10 | import edu.wpi.first.wpilibj.Encoder; |
33141cdd KZ |
11 | import edu.wpi.first.wpilibj.RobotDrive; |
12 | import edu.wpi.first.wpilibj.command.PIDSubsystem; | |
13 | ||
14 | public class DriveTrain extends PIDSubsystem { | |
8d270bbc | 15 | // Determines if the "front" of the robot has been reversed |
571a0e2a | 16 | private boolean outputFlipped = false; |
8d270bbc | 17 | |
fb75626b | 18 | private static double pidOutput = 0; |
38a404b3 | 19 | |
1884c3cf | 20 | private Encoder leftEncoder, rightEncoder; |
96215d97 | 21 | |
d7bf2340 | 22 | private CANTalon frontLeft, frontRight, rearLeft, rearRight; |
33141cdd KZ |
23 | private RobotDrive robotDrive; |
24 | ||
d9c04720 | 25 | private DoubleSolenoid leftGearPiston, rightGearPiston; |
fb75626b | 26 | |
9e65c056 ME |
27 | // Drivetrain specific constants that relate to the inches per pulse value for |
28 | // the encoders | |
71d73690 | 29 | |
d7bf2340 | 30 | public DriveTrain() { |
fb75626b KZ |
31 | super(Constants.DriveTrain.kp, Constants.DriveTrain.ki, |
32 | Constants.DriveTrain.kd); | |
33141cdd | 33 | |
e1f7a742 HD |
34 | frontLeft = new CANTalon(Constants.DriveTrain.DRIVE_FRONT_LEFT); |
35 | frontRight = new CANTalon(Constants.DriveTrain.DRIVE_FRONT_RIGHT); | |
36 | rearLeft = new CANTalon(Constants.DriveTrain.DRIVE_REAR_LEFT); | |
37 | rearRight = new CANTalon(Constants.DriveTrain.DRIVE_REAR_RIGHT); | |
1884c3cf | 38 | |
33141cdd | 39 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); |
96215d97 | 40 | |
d7bf2340 KZ |
41 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, |
42 | Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X); | |
43 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, | |
44 | Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X); | |
45bdf5b9 KZ |
45 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); |
46 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
33141cdd KZ |
47 | |
48 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
49 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
50 | ||
33141cdd | 51 | this.disable(); |
d004deee | 52 | |
e1f7a742 | 53 | leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_SHIFT_MODULE, |
43338192 HD |
54 | Constants.DriveTrain.LEFT_SHIFT_FORWARD, |
55 | Constants.DriveTrain.LEFT_SHIFT_REVERSE); | |
56 | rightGearPiston = new DoubleSolenoid( | |
57 | Constants.DriveTrain.RIGHT_SHIFT_MODULE, | |
58 | Constants.DriveTrain.RIGHT_SHIFT_FORWARD, | |
59 | Constants.DriveTrain.RIGHT_SHIFT_REVERSE); | |
d7bf2340 KZ |
60 | } |
61 | ||
62 | @Override | |
63 | protected void initDefaultCommand() { | |
33141cdd KZ |
64 | setDefaultCommand(new JoystickDrive()); |
65 | } | |
66 | ||
7a4df3c5 | 67 | // Print tne PID Output |
33141cdd KZ |
68 | public void printOutput() { |
69 | System.out.println("PIDOutput: " + pidOutput); | |
70 | } | |
71 | ||
72 | private double getAvgEncoderDistance() { | |
73 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
74 | } | |
75 | ||
7a4df3c5 KZ |
76 | // Whether or not the PID Controller thinks we have reached the target |
77 | // setpoint | |
33141cdd KZ |
78 | public boolean reachedTarget() { |
79 | if (this.onTarget()) { | |
80 | this.disable(); | |
81 | return true; | |
82 | } else { | |
83 | return false; | |
84 | } | |
85 | } | |
86 | ||
87 | public void stop() { | |
43338192 | 88 | setMotorSpeeds(0, 0); |
d7bf2340 KZ |
89 | } |
90 | ||
91 | public void resetEncoders() { | |
92 | leftEncoder.reset(); | |
93 | rightEncoder.reset(); | |
94 | } | |
95 | ||
d7bf2340 | 96 | public double getRightSpeed() { |
6833a887 | 97 | return rightEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
98 | } |
99 | ||
100 | public double getLeftSpeed() { | |
6833a887 | 101 | return leftEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
102 | } |
103 | ||
104 | public double getSpeed() { | |
6833a887 | 105 | return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second |
d7bf2340 KZ |
106 | } |
107 | ||
d7bf2340 | 108 | public double getRightDistance() { |
6833a887 | 109 | return rightEncoder.getDistance(); // in inches |
d7bf2340 KZ |
110 | } |
111 | ||
d7bf2340 | 112 | public double getLeftDistance() { |
6833a887 | 113 | return leftEncoder.getDistance(); // in inches |
d7bf2340 KZ |
114 | } |
115 | ||
7a4df3c5 KZ |
116 | // Get error between the setpoint of PID Controller and the current state of |
117 | // the robot | |
33141cdd | 118 | public double getError() { |
f8bfcc62 | 119 | return Math.abs(this.getSetpoint() - getAvgEncoderDistance()); |
33141cdd KZ |
120 | } |
121 | ||
122 | public void printEncoder(int i, int n) { | |
123 | if (i % n == 0) { | |
124 | System.out.println("Left: " + this.getLeftDistance()); | |
125 | System.out.println("Right: " + this.getRightDistance()); | |
126 | ||
127 | } | |
128 | } | |
129 | ||
7a4df3c5 KZ |
130 | /* |
131 | * returns the PID output that is returned by the PID Controller | |
132 | */ | |
33141cdd KZ |
133 | public double getOutput() { |
134 | return pidOutput; | |
135 | } | |
136 | ||
7a4df3c5 | 137 | // Updates the PID constants based on which control mode is being used |
33141cdd | 138 | public void updatePID() { |
f8bfcc62 HD |
139 | this.getPIDController().setPID(Constants.DriveTrain.kp, |
140 | Constants.DriveTrain.ki, Constants.DriveTrain.kd); | |
33141cdd KZ |
141 | } |
142 | ||
143 | public CANTalon getFrontLeft() { | |
144 | return frontLeft; | |
145 | } | |
146 | ||
147 | public CANTalon getFrontRight() { | |
148 | return frontRight; | |
149 | } | |
150 | ||
151 | public CANTalon getRearLeft() { | |
152 | return rearLeft; | |
153 | } | |
154 | ||
155 | public CANTalon getRearRight() { | |
156 | return rearRight; | |
157 | } | |
158 | ||
7a4df3c5 KZ |
159 | /* |
160 | * Method is a required method that the PID Subsystem uses to return the | |
161 | * calculated PID value to the driver | |
571a0e2a | 162 | * |
7a4df3c5 KZ |
163 | * @param Gives the user the output from the PID algorithm that is calculated |
164 | * internally | |
571a0e2a | 165 | * |
7a4df3c5 KZ |
166 | * Body: Uses the output, does some filtering and drives the robot |
167 | */ | |
33141cdd KZ |
168 | @Override |
169 | protected void usePIDOutput(double output) { | |
170 | double left = 0; | |
171 | double right = 0; | |
f8bfcc62 HD |
172 | double drift = this.getLeftDistance() - this.getRightDistance(); |
173 | if (Math.abs(output) > 0 && Math.abs(output) < 0.3) | |
174 | output = Math.signum(output) * 0.3; | |
175 | left = output; | |
176 | right = output + drift * Constants.DriveTrain.kp / 10; | |
43338192 | 177 | setMotorSpeeds(left, right); |
33141cdd | 178 | pidOutput = output; |
d7bf2340 KZ |
179 | } |
180 | ||
33141cdd KZ |
181 | @Override |
182 | protected double returnPIDInput() { | |
183 | return sensorFeedback(); | |
d7bf2340 | 184 | } |
33141cdd | 185 | |
7a4df3c5 | 186 | /* |
c688e9da | 187 | * Checks the drive mode |
571a0e2a | 188 | * |
7e360ef5 LM |
189 | * @return the current state of the robot in each state Average distance from |
190 | * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE | |
7a4df3c5 | 191 | */ |
33141cdd | 192 | private double sensorFeedback() { |
f8bfcc62 | 193 | return getAvgEncoderDistance(); |
33141cdd KZ |
194 | } |
195 | ||
43338192 | 196 | public void joystickDrive(double left, double right) { |
8d270bbc | 197 | // Handle flipping of the "front" of the robot |
43338192 | 198 | double k = (isFlipped() ? -1 : 1); |
8d270bbc | 199 | |
f675bae4 | 200 | robotDrive.tankDrive(-left * k, -right * k); |
33141cdd KZ |
201 | } |
202 | ||
203 | public void setMotorSpeeds(double left, double right) { | |
ba29a57a | 204 | double k = (isFlipped() ? -1 : 1); |
f675bae4 | 205 | robotDrive.tankDrive(-left * k, -right * k); |
33141cdd KZ |
206 | } |
207 | ||
571a0e2a HD |
208 | /** |
209 | * @return a value that is the current setpoint for the piston (kReverse or | |
210 | * kForward) | |
7a4df3c5 | 211 | */ |
571a0e2a HD |
212 | public Value getGearPistonValue() { |
213 | return leftGearPiston.get(); // Pistons should always be in the same state | |
2a099bc6 KZ |
214 | } |
215 | ||
571a0e2a | 216 | /** |
7a4df3c5 KZ |
217 | * Changes the ball shift gear assembly to high |
218 | */ | |
2a099bc6 KZ |
219 | public void setHighGear() { |
220 | changeGear(Constants.DriveTrain.HIGH_GEAR); | |
221 | } | |
222 | ||
571a0e2a | 223 | /** |
7a4df3c5 KZ |
224 | * Changes the ball shift gear assembly to low |
225 | */ | |
2a099bc6 KZ |
226 | public void setLowGear() { |
227 | changeGear(Constants.DriveTrain.LOW_GEAR); | |
228 | } | |
229 | ||
571a0e2a HD |
230 | /** |
231 | * Changes the gear to a DoubleSolenoid.Value | |
7a4df3c5 | 232 | */ |
2a099bc6 KZ |
233 | public void changeGear(DoubleSolenoid.Value gear) { |
234 | leftGearPiston.set(gear); | |
235 | rightGearPiston.set(gear); | |
236 | } | |
600a1a1c | 237 | |
571a0e2a HD |
238 | /** |
239 | * Switches drivetrain gears from high to low or low to high | |
240 | */ | |
241 | public void switchGear() { | |
242 | Value currentValue = getGearPistonValue(); | |
243 | Value setValue = (currentValue == Constants.DriveTrain.HIGH_GEAR) ? Constants.DriveTrain.LOW_GEAR | |
244 | : Constants.DriveTrain.HIGH_GEAR; | |
245 | changeGear(setValue); | |
246 | } | |
247 | ||
248 | /** | |
249 | * Toggle whether the motor outputs are flipped, effectively switching which | |
250 | * side of the robot is the front. | |
251 | */ | |
252 | public void toggleFlipped() { | |
253 | outputFlipped = !outputFlipped; | |
254 | } | |
255 | ||
256 | public boolean isFlipped() { | |
257 | return outputFlipped; | |
258 | } | |
259 | ||
38a404b3 | 260 | } |