challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2
   3 import org.usfirst.frc.team3501.robot.Constants;
   4 import org.usfirst.frc.team3501.robot.Lidar;
   5
   6 import edu.wpi.first.wpilibj.CANTalon;
   7 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
   8 import edu.wpi.first.wpilibj.Encoder;
   9 import edu.wpi.first.wpilibj.I2C;
  10 import edu.wpi.first.wpilibj.command.Subsystem;
  11
  12 public class DriveTrain extends Subsystem {
  13   // Drivetrain related objects
  14   private Encoder leftEncoder, rightEncoder;
  15   public static Lidar lidar;
  16   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
  17
  18   public DriveTrain() {
  19     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  20     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  21     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  22     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  23
  24     lidar = new Lidar(I2C.Port.kOnboard);
  25     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  26         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
  27     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  28         Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
  29     leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  30     rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  31   }
  32
  33   @Override
  34   protected void initDefaultCommand() {
  35   }
  36
  37   public void resetEncoders() {
  38     leftEncoder.reset();
  39     rightEncoder.reset();
  40   }
  41
  42   public double getLidarDistance() {
  43     return lidar.pidGet();
  44   }
  45
  46   public double getRightSpeed() {
  47     return rightEncoder.getRate(); // in inches per second
  48   }
  49
  50   public double getLeftSpeed() {
  51     return leftEncoder.getRate(); // in inches per second
  52   }
  53
  54   public double getSpeed() {
  55     return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
  56   }
  57
  58   public double getRightDistance() {
  59     return rightEncoder.getDistance(); // in inches
  60   }
  61
  62   public double getLeftDistance() {
  63     return leftEncoder.getDistance(); // in inches
  64   }
  65
  66   public double getDistance() {
  67     return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
  68   }
  69
  70   public void stop() {
  71     setMotorSpeeds(0, 0);
  72   }
  73
  74   public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
  75     // speed passed to right motor is negative because right motor rotates in
  76     // opposite direction
  77     this.frontLeft.set(leftSpeed);
  78     this.frontRight.set(-rightSpeed);
  79     this.rearLeft.set(leftSpeed);
  80     this.rearRight.set(-rightSpeed);
  81   }
  82 }