add two piston variables for shifting gears

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / DriveTrain.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 81f80b92ffa3d7ccd670757b3444273ca8438580..5e9f2bd93daaea7817f8b2951580351b1fa80a5c 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -7,6 +7,7 @@ import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.RobotDrive;
@@ -24,6 +25,21 @@ public class DriveTrain extends PIDSubsystem {
   private RobotDrive robotDrive;
 
   private GyroLib gyro;
+  private DoubleSolenoid leftGearPiston, rightGearPiston;
+  // Drivetrain specific constants that relate to the inches per pulse value for
+  // the encoders
+  private final static double WHEEL_DIAMETER = 6.0; // in inches
+  private final static double PULSES_PER_ROTATION = 256; // in pulses
+  private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+  private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
+  public final static double INCHES_PER_PULSE = (((Math.PI)
+      * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+      / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+
+  // Drivetrain specific constants that relate to the PID controllers
+  private final static double Kp = 1.0, Ki = 0.0,
+      Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+          / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
 
   public DriveTrain() {
     super(kp, ki, kd);
@@ -51,6 +67,10 @@ public class DriveTrain extends PIDSubsystem {
     this.disable();
     gyro.start();
 
+    leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_FORWARD,
+        +Constants.DriveTrain.LEFT_REVERSE);
+    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.RIGHT_FORWARD,
+        Constants.DriveTrain.RIGHT_REVERSE);
   }
 
   @Override