package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Lidar;
+
import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.CounterBase.EncodingType;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
+ // Drivetrain related objects
+ private Encoder leftEncoder, rightEncoder;
+ public static Lidar lidar;
private CANTalon frontLeft, frontRight, rearLeft, rearRight;
public DriveTrain() {
frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
+
+ lidar = new Lidar(I2C.Port.kOnboard);
+ 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);
}
@Override
protected void initDefaultCommand() {
}
+ public void resetEncoders() {
+ leftEncoder.reset();
+ rightEncoder.reset();
+ }
+
+ public double getLidarDistance() {
+ return lidar.pidGet();
+ }
+
+ public double getRightSpeed() {
+ return rightEncoder.getRate(); // in inches per second
+ }
+
+ public double getLeftSpeed() {
+ return leftEncoder.getRate(); // in inches per second
+ }
+
+ public double getSpeed() {
+ return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
+ }
+
+ public double getRightDistance() {
+ return rightEncoder.getDistance(); // in inches
+ }
+
+ public double getLeftDistance() {
+ return leftEncoder.getDistance(); // in inches
+ }
+
+ public double getDistance() {
+ return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
+ }
+
+ public void stop() {
+ setMotorSpeeds(0, 0);
+ }
+
+ 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);
+ }
}