Add compressor control code and fix solenoid ports

[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 ac239361d2d44edc83358f8bb15dd54b1320cc56..f5a7d6c21eaffb98ea258c4cedc4061188c79b1f 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.sensors.GyroLib;
 import org.usfirst.frc.team3501.robot.sensors.Lidar;
 
 import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
@@ -29,6 +30,7 @@ public class DriveTrain extends PIDSubsystem {
 
   private GyroLib gyro;
   private DoubleSolenoid leftGearPiston, rightGearPiston;
+  private Compressor compressor;
 
   // Drivetrain specific constants that relate to the inches per pulse value for
   // the encoders
@@ -62,11 +64,13 @@ public class DriveTrain extends PIDSubsystem {
     this.disable();
     gyro.start();
 
-    leftGearPiston = new DoubleSolenoid(10, Constants.DriveTrain.LEFT_FORWARD,
-        Constants.DriveTrain.LEFT_REVERSE);
-    rightGearPiston = new DoubleSolenoid(10,
-        Constants.DriveTrain.RIGHT_FORWARD,
-        Constants.DriveTrain.RIGHT_REVERSE);
+    leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_B_ID,
+        Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
+    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_B_ID,
+        Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
+
+    compressor = new Compressor(Constants.DriveTrain.COMPRESSOR_ID);
+
     Constants.DriveTrain.inverted = false;
   }
 
@@ -197,10 +201,10 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * Method is a required method that the PID Subsystem uses to return the
    * calculated PID value to the driver
-   *
+   * 
    * @param Gives the user the output from the PID algorithm that is calculated
    * internally
-   *
+   * 
    * Body: Uses the output, does some filtering and drives the robot
    */
   @Override
@@ -213,12 +217,11 @@ public class DriveTrain extends PIDSubsystem {
         output = Math.signum(output) * 0.3;
       left = output;
       right = output + drift * Constants.DriveTrain.kp / 10;
-      drive(left, right);
     } else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
       left = output;
       right = -output;
-      arcadeDrive(0, output);
     }
+    drive(left, right);
     pidOutput = output;
   }
 
@@ -229,7 +232,7 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Checks the drive mode
-   *
+   * 
    * @return the current state of the robot in each state Average distance from
    * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
    */
@@ -265,9 +268,9 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * constrains the distance to within -100 and 100 since we aren't going to
    * drive more than 100 inches
-   *
+   * 
    * Configure Encoder PID
-   *
+   * 
    * Sets the setpoint to the PID subsystem
    */
   public void driveDistance(double dist, double maxTimeOut) {
@@ -307,10 +310,10 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Turning method that should be used repeatedly in a command
-   *
+   * 
    * First constrains the angle to within -360 and 360 since that is as much as
    * we need to turn
-   *
+   * 
    * Configures Gyro PID and sets the setpoint as an angle
    */
   public void turnAngle(double angle) {
@@ -366,4 +369,19 @@ public class DriveTrain extends PIDSubsystem {
     rightGearPiston.set(gear);
   }
 
+  public void startCompressor() {
+    compressor.start();
+  }
+
+  public void stopCompressor() {
+    compressor.stop();
+  }
+
+  public void toggleCompressor() {
+    if (compressor.enabled())
+      compressor.stop();
+    else
+      compressor.start();
+  }
+
 }