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.FirebotGyro;
   5 import org.usfirst.frc.team3501.robot.Lidar;
   6
   7 import edu.wpi.first.wpilibj.AnalogInput;
   8 import edu.wpi.first.wpilibj.CANTalon;
   9 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
  10 import edu.wpi.first.wpilibj.Encoder;
  11 import edu.wpi.first.wpilibj.I2C;
  12 import edu.wpi.first.wpilibj.PIDController;
  13 import edu.wpi.first.wpilibj.command.Subsystem;
  14
  15 public class DriveTrain extends Subsystem {
  16   // Drivetrain related objects
  17   private Encoder leftEncoder, rightEncoder;
  18   public static Lidar lidar;
  19   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
  20   private PIDController frontLeftC, frontRightC, rearLeftC, rearRightC;
  21   // Drivetrain specific constants that relate to the inches per pulse value for
  22   // the encoders
  23   private final static double WHEEL_DIAMETER = 6.0; // in inches
  24   private final static double PULSES_PER_ROTATION = 256; // in pulses
  25   private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
  26   private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
  27   public final static double INCHES_PER_PULSE = (((Math.PI)
  28       * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
  29       / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
  30
  31   // Drivetrain specific constants that relate to the PID controllers
  32   private final static double Kp = 1.0, Ki = 0.0,
  33       Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
  34           / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
  35
  36   public AnalogInput channel;
  37
  38   // Gyro stuff
  39   private final static double NANOSECONDS_PER_SECOND = 1000000000;
  40   short rawValue;
  41   public FirebotGyro gyro;
  42
  43   double initialSpeedNanoseconds;
  44   double finalSpeedNanoseconds;
  45   double initialSpeedSeconds;
  46   double finalSpeedSeconds;
  47   double deltaSpeed;
  48   double degrees;
  49
  50   public DriveTrain() {
  51     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
  52     frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
  53     rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
  54     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
  55
  56     lidar = new Lidar(I2C.Port.kOnboard);
  57     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
  58         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
  59     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
  60         Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
  61     leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  62     rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
  63     leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  64     rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
  65
  66     gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
  67     gyro.initialize();
  68   }
  69
  70   @Override
  71   protected void initDefaultCommand() {
  72   }
  73
  74   public void resetEncoders() {
  75     leftEncoder.reset();
  76     rightEncoder.reset();
  77   }
  78
  79   public double getLidarDistance() {
  80     return lidar.pidGet();
  81   }
  82
  83   public double getRightSpeed() {
  84     return rightEncoder.getRate(); // in inches per second
  85   }
  86
  87   public double getLeftSpeed() {
  88     return leftEncoder.getRate(); // in inches per second
  89   }
  90
  91   public double getSpeed() {
  92     return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
  93   }
  94
  95   public double getRightDistance() {
  96     return rightEncoder.getDistance(); // in inches
  97   }
  98
  99   public double getLeftDistance() {
 100     return leftEncoder.getDistance(); // in inches
 101   }
 102
 103   public double getDistance() {
 104     return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
 105   }
 106
 107   public void stop() {
 108     setMotorSpeeds(0, 0);
 109   }
 110
 111   public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
 112     // speed passed to right motor is negative because right motor rotates in
 113     // opposite direction
 114     this.frontLeft.set(leftSpeed);
 115     this.frontRight.set(-rightSpeed);
 116     this.rearLeft.set(leftSpeed);
 117     this.rearRight.set(-rightSpeed);
 118   }
 119 }