package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
+import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
+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.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;
-
-public class DriveTrain extends Subsystem {
- private CANTalon frontLeft, frontRight, rearLeft, rearRight;
- // operational constants
-
- // inches/pulse
- private final static double WHEEL_DIAMETER = 6.0; // in inches
- private final static double PULSES_PER_ROTATION = 256;
- private final static double OUTPUT_SPROCKET_DIAMETER = 2.0;
- private final static double WHEEL_SPROCKET_DIAMETER = 3.5;
-
- public final static double INCHES_PER_PULSE = (((Math.PI)
- * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER)
- * WHEEL_DIAMETER;
- private Encoder leftEncoder, rightEncoder;
-
- public DriveTrain() {
- 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);
- 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(INCHES_PER_PULSE);
- rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
- }
-
- @Override
- protected void initDefaultCommand() {
- }
-
- public void resetEncoders() {
- leftEncoder.reset();
- rightEncoder.reset();
- }
-
- // Returns inches per second
- public double getRightSpeed() {
- return rightEncoder.getRate();
- }
-
- public double getLeftSpeed() {
- return leftEncoder.getRate();
- }
-
- public double getSpeed() {
- return (getLeftSpeed() + getRightSpeed()) / 2.0;
- }
-
- // Returns distance in in
- public double getRightDistance() {
- return rightEncoder.getDistance();
- }
-
- // Returns distance in in
- public double getLeftDistance() {
- return leftEncoder.getDistance();
- }
-
- public double getDistance() {
- return (getRightDistance() + getLeftDistance()) / 2.0;
- }
-
- public void stop() {
- setMotorSpeeds(0, 0);
- }
-
- public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
- this.frontLeft.set(leftSpeed);
- this.frontRight.set(-rightSpeed);
- this.rearLeft.set(leftSpeed);
- this.rearRight.set(-rightSpeed);
- }
+import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
+public class DriveTrain extends PIDSubsystem {
+ // Current Drive Mode Default Drive Mode is Manual
+ private int DRIVE_MODE = 1;
+ private static double pidOutput = 0;
+
+ private Encoder leftEncoder, rightEncoder;
+
+ public static Lidar lidar;
+
+ 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
+
+ public DriveTrain() {
+ super(Constants.DriveTrain.kp, Constants.DriveTrain.ki,
+ Constants.DriveTrain.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);
+
+ 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);
+
+ 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);
+ Constants.DriveTrain.inverted = false;
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+ setDefaultCommand(new JoystickDrive());
+ }
+
+ // Print tne PID Output
+ public void printOutput() {
+ System.out.println("PIDOutput: " + pidOutput);
+ }
+
+ private double getAvgEncoderDistance() {
+ return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2;
+ }
+
+ // Whether or not the PID Controller thinks we have reached the target
+ // setpoint
+ 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 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
+ }
+
+ // Get error between the setpoint of PID Controller and the current state of
+ // the robot
+ 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());
+ }
+
+ /*
+ * returns the PID output that is returned by the PID Controller
+ */
+ public double getOutput() {
+ return pidOutput;
+ }
+
+ // Updates the PID constants based on which control mode is being used
+ public void updatePID() {
+ if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE)
+ this.getPIDController().setPID(Constants.DriveTrain.kp,
+ Constants.DriveTrain.ki, Constants.DriveTrain.kd);
+ else
+ this.getPIDController().setPID(Constants.DriveTrain.gp,
+ Constants.DriveTrain.gd, Constants.DriveTrain.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;
+ }
+
+ /*
+ * 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
+ 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 * Constants.DriveTrain.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();
+ }
+
+ /*
+ * Checks the drive mode <<<<<<< 9728080f491e9fb09795494349dba1297f447c0f
+ *
+ * @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
+ * =======
+ *
+ * @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
+ * >>>>>>> Move all constants in DeadReckoning to Auton class because it makes
+ * more sense
+ */
+ 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;
+ }
+
+ /*
+ * @param left and right setpoints to set to the left and right side of tank
+ * inverted is for Logan, wants the robot to invert all controls left = right
+ * and right = left negative input is required for the regular rotation
+ * because RobotDrive tankdrive method drives inverted
+ */
+ public void drive(double left, double right) {
+ robotDrive.tankDrive(-left, -right);
+ // dunno why but inverted drive (- values is forward)
+ if (!Constants.DriveTrain.inverted)
+ robotDrive.tankDrive(-left, -right);
+ else
+ robotDrive.tankDrive(right, left);
+ }
+
+ /*
+ * 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) {
+ dist = MathLib.constrain(dist, -100, 100);
+ setEncoderPID();
+ setSetpoint(dist);
+ }
+
+ /*
+ * Sets the encoder mode Updates the PID constants sets the tolerance and sets
+ * output/input ranges Enables the PID controllers
+ */
+ public void setEncoderPID() {
+ DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE;
+ this.updatePID();
+ this.setAbsoluteTolerance(Constants.DriveTrain.encoderTolerance);
+ this.setOutputRange(-1.0, 1.0);
+ this.setInputRange(-200.0, 200.0);
+ this.enable();
+ }
+
+ /*
+ * Sets the Gyro Mode Updates the PID constants, sets the tolerance and sets
+ * output/input ranges Enables the PID controllers
+ */
+ private void setGyroPID() {
+ DRIVE_MODE = Constants.DriveTrain.GYRO_MODE;
+ this.updatePID();
+ this.getPIDController().setPID(Constants.DriveTrain.gp,
+ Constants.DriveTrain.gi, Constants.DriveTrain.gd);
+
+ this.setAbsoluteTolerance(Constants.DriveTrain.gyroTolerance);
+ this.setOutputRange(-1.0, 1.0);
+ this.setInputRange(-360.0, 360.0);
+ this.enable();
+ }
+
+ /*
+ * 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) {
+ 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);
+ }
+
+ /*
+ * @return a value that is the current setpoint for the piston kReverse or
+ * kForward
+ */
+ public Value getLeftGearPistonValue() {
+ return leftGearPiston.get();
+ }
+
+ /*
+ * @return a value that is the current setpoint for the piston kReverse or
+ * kForward
+ */
+ public Value getRightGearPistonValue() {
+ return rightGearPiston.get();
+ }
+
+ /*
+ * Changes the ball shift gear assembly to high
+ */
+ public void setHighGear() {
+ changeGear(Constants.DriveTrain.HIGH_GEAR);
+ }
+
+ /*
+ * Changes the ball shift gear assembly to low
+ */
+ public void setLowGear() {
+ changeGear(Constants.DriveTrain.LOW_GEAR);
+ }
+
+ /*
+ * changes the gear to a DoubleSolenoid.Value
+ */
+ public void changeGear(DoubleSolenoid.Value gear) {
+ leftGearPiston.set(gear);
+ rightGearPiston.set(gear);
+ }
+
+ public void toggleTimeDeadReckoning() {
+ Constants.Auton.isUsingTime = !Constants.Auton.isUsingTime;
+ }
}
projects / 3501 / stronghold-2016 / blobdiff