package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.GyroLib;
+import org.usfirst.frc.team3501.robot.MathLib;
+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.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.I2C;
+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;
+
+ private static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
-public class DriveTrain extends Subsystem {
- // Drivetrain related objects
private Encoder leftEncoder, rightEncoder;
+
+ public static Lidar leftLidar;
+ public static Lidar rightLidar;
+
private CANTalon frontLeft, frontRight, rearLeft, rearRight;
+ 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);
+
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
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,
Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+
+ leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+ rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+
+ gyro = new GyroLib(I2C.Port.kOnboard, false);
+
+ DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE;
+ setEncoderPID();
+ 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
protected void initDefaultCommand() {
+ setDefaultCommand(new JoystickDrive());
+ }
+
+ public void printOutput() {
+ System.out.println("PIDOutput: " + pidOutput);
+ }
+
+ private double getAvgEncoderDistance() {
+ return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
+ }
+
+ public boolean reachedTarget() {
+ if (this.onTarget()) {
+ this.disable();
+ return true;
+ } else {
+ return false;
+ }
+ }
+
+ public void stop() {
+ drive(0, 0);
}
public void resetEncoders() {
rightEncoder.reset();
}
+ public double getLeftLidarDistance() {
+ return leftLidar.pidGet();
+ }
+
+ public double getRightLidarDistance() {
+ return rightLidar.pidGet();
+ }
+
public double getRightSpeed() {
return rightEncoder.getRate(); // in inches per second
}
return leftEncoder.getDistance(); // in inches
}
- public double getDistance() {
- return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
+ public double getError() {
+ if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE)
+ return Math.abs(this.getSetpoint() - getAvgEncoderDistance());
+ else
+ return Math.abs(this.getSetpoint() + getGyroAngle());
}
- public void stop() {
- setMotorSpeeds(0, 0);
+ public double getGyroAngle() {
+ return gyro.getRotationZ().getAngle();
+ }
+
+ public void resetGyro() {
+ gyro.reset();
+ }
+
+ public void printEncoder(int i, int n) {
+ if (i % n == 0) {
+ System.out.println("Left: " + this.getLeftDistance());
+ System.out.println("Right: " + this.getRightDistance());
+
+ }
+ }
+
+ public void printGyroOutput() {
+ System.out.println("Gyro Angle" + -this.getGyroAngle());
+ }
+
+ public double getOutput() {
+ return pidOutput;
+ }
+
+ public void updatePID() {
+ if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE)
+ this.getPIDController().setPID(kp, ki, kd);
+ else
+ this.getPIDController().setPID(gp, gd, gi);
+ }
+
+ public CANTalon getFrontLeft() {
+ return frontLeft;
+ }
+
+ public CANTalon getFrontRight() {
+ return frontRight;
+ }
+
+ public CANTalon getRearLeft() {
+ return rearLeft;
+ }
+
+ public CANTalon getRearRight() {
+ return rearRight;
+ }
+
+ public int getMode() {
+ return DRIVE_MODE;
+ }
+
+ @Override
+ protected void usePIDOutput(double output) {
+ double left = 0;
+ double right = 0;
+ if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) {
+ double drift = this.getLeftDistance() - this.getRightDistance();
+ if (Math.abs(output) > 0 && Math.abs(output) < 0.3)
+ output = Math.signum(output) * 0.3;
+ left = output;
+ right = output + drift * kp / 10;
+ } else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
+ left = output;
+ right = -output;
+ }
+ drive(left, right);
+ pidOutput = output;
+ }
+
+ @Override
+ protected double returnPIDInput() {
+ return sensorFeedback();
+ }
+
+ private double sensorFeedback() {
+ if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE)
+ return getAvgEncoderDistance();
+ else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE)
+ return -this.getGyroAngle();
+ // counterclockwise is positive on joystick but we want it to be negative
+ else
+ return 0;
+ }
+
+ public void drive(double left, double right) {
+ robotDrive.tankDrive(-left, -right);
+ // dunno why but inverted drive (- values is forward)
+ }
+
+ public void driveDistance(double dist, double maxTimeOut) {
+ dist = MathLib.constrain(dist, -100, 100);
+ setEncoderPID();
+ setSetpoint(dist);
+ }
+
+ public void setEncoderPID() {
+ DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE;
+ this.updatePID();
+ this.setAbsoluteTolerance(encoderTolerance);
+ this.setOutputRange(-1.0, 1.0);
+ this.setInputRange(-200.0, 200.0);
+ this.enable();
+ }
+
+ private void setGyroPID() {
+ DRIVE_MODE = Constants.DriveTrain.GYRO_MODE;
+ this.updatePID();
+ this.getPIDController().setPID(gp, gi, gd);
+
+ this.setAbsoluteTolerance(gyroTolerance);
+ this.setOutputRange(-1.0, 1.0);
+ this.setInputRange(-360.0, 360.0);
+ this.enable();
+ }
+
+ public void turnAngle(double angle) {
+ angle = MathLib.constrain(angle, -360, 360);
+ setGyroPID();
+ setSetpoint(angle);
+ }
+
+ public void setMotorSpeeds(double left, double right) {
+ // positive setpoint to left side makes it go backwards
+ // positive setpoint to right side makes it go forwards.
+ frontLeft.set(-left);
+ rearLeft.set(-left);
+ frontRight.set(right);
+ rearRight.set(right);
+ }
+
+ 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 setMotorSpeeds(double leftSpeed, double rightSpeed) {
- // speed passed to right motor is negative because right motor rotates in
- // opposite direction
- this.frontLeft.set(leftSpeed);
- this.frontRight.set(-rightSpeed);
- this.rearLeft.set(leftSpeed);
- this.rearRight.set(-rightSpeed);
+ public void changeGear(DoubleSolenoid.Value gear) {
+ leftGearPiston.set(gear);
+ rightGearPiston.set(gear);
}
}
projects / 3501 / stronghold-2016 / blobdiff