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