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