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.command.Subsystem;
+import edu.wpi.first.wpilibj.CounterBase.EncodingType;
+import edu.wpi.first.wpilibj.Encoder;
+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 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 {
+ private Encoder leftEncoder, rightEncoder;
private CANTalon frontLeft, frontRight, rearLeft, rearRight;
+ private RobotDrive robotDrive;
+
+ private GyroLib gyro;
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);
+ 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();
+
}
@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() {
+ leftEncoder.reset();
+ rightEncoder.reset();
+ }
+
+ 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 getError() {
+ if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE)
+ return Math.abs(this.getSetpoint() - getAvgEncoderDistance());
+ else
+ return Math.abs(this.getSetpoint() + getGyroAngle());
+ }
+
+ 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);
}
+ private static double kp = 0.013, ki = 0.000015, kd = -0.002;
+ private static double gp = 0.018, gi = 0.000015, gd = 0;
}
projects / 3501 / stronghold-2016 / blobdiff