add method to calculate angle to turn after passing through defense to shoot

[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 56d8066b49d800df8924018a3f4c7844ddb5e2a5..0d1db15b930268ccea2a86b65627118080932e14 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -15,6 +15,8 @@ import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 
 public class DriveTrain extends PIDSubsystem {
+  private static double kp = 0.013, ki = 0.000015, kd = -0.002;
+  private static double gp = 0.018, gi = 0.000015, gd = 0;
   private static double pidOutput = 0;
   private static double encoderTolerance = 8.0, gyroTolerance = 5.0;
   private int DRIVE_MODE = 1;
@@ -22,6 +24,10 @@ public class DriveTrain extends PIDSubsystem {
   private static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
 
   private Encoder leftEncoder, rightEncoder;
+
+  public static Lidar leftLidar;
+  public static Lidar rightLidar;
+
   private CANTalon frontLeft, frontRight, rearLeft, rearRight;
   private RobotDrive robotDrive;
 
@@ -40,7 +46,7 @@ public class DriveTrain extends PIDSubsystem {
   // 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;
+          / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
 
   public DriveTrain() {
     super(kp, ki, kd);
@@ -51,6 +57,10 @@ public class DriveTrain extends PIDSubsystem {
     rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
 
     robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
+
+    leftLidar = new Lidar(I2C.Port.kOnboard);
+    rightLidar = new Lidar(I2C.Port.kOnboard); // TODO: find port for second
+                                               // lidar
     leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
         Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
     rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
@@ -105,12 +115,12 @@ public class DriveTrain extends PIDSubsystem {
     rightEncoder.reset();
   }
 
-  public Value getLeftGearPistonValue() {
-    return leftGearPiston.get();
+  public double getLeftLidarDistance() {
+    return leftLidar.pidGet();
   }
 
-  public Value getRightGearPistonValue() {
-    return rightGearPiston.get();
+  public double getRightLidarDistance() {
+    return rightLidar.pidGet();
   }
 
   public double getRightSpeed() {
@@ -201,8 +211,7 @@ public class DriveTrain extends PIDSubsystem {
         output = Math.signum(output) * 0.3;
       left = output;
       right = output + drift * kp / 10;
-    }
-    else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
+    } else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
       left = output;
       right = -output;
     }
@@ -271,6 +280,24 @@ public class DriveTrain extends PIDSubsystem {
     rearRight.set(right);
   }
 
-  private static double kp = 0.013, ki = 0.000015, kd = -0.002;
-  private static double gp = 0.018, gi = 0.000015, gd = 0;
+  public Value getLeftGearPistonValue() {
+    return leftGearPiston.get();
+  }
+
+  public Value getRightGearPistonValue() {
+    return rightGearPiston.get();
+  }
+
+  public void setHighGear() {
+    changeGear(Constants.DriveTrain.HIGH_GEAR);
+  }
+
+  public void setLowGear() {
+    changeGear(Constants.DriveTrain.LOW_GEAR);
+  }
+
+  public void changeGear(DoubleSolenoid.Value gear) {
+    leftGearPiston.set(gear);
+    rightGearPiston.set(gear);
+  }
 }