import org.usfirst.frc.team3501.robot.Constants;
import edu.wpi.first.wpilibj.CANTalon;
-import edu.wpi.first.wpilibj.CANTalon.TalonControlMode;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
// Drivetrain related objects
private Encoder leftEncoder, rightEncoder;
private CANTalon frontLeft, frontRight, rearLeft, rearRight;
- private PIDController frontLeftC, frontRightC, rearLeftC, rearRightC;
- // 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;
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);
- this.configureTalons();
-
- frontLeftC = new PIDController(Kp, Ki, Kd, frontLeft, frontLeft);
- frontRightC = new PIDController(Kp, Ki, Kd, frontRight, frontRight);
- rearLeftC = new PIDController(Kp, Ki, Kd, frontLeft, rearLeft);
- rearRightC = new PIDController(Kp, Ki, Kd, frontRight, rearRight);
- this.enablePIDControllers();
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);
+ leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+ rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
}
@Override
protected void initDefaultCommand() {
}
- public void configureTalons() {
- frontLeft.changeControlMode(TalonControlMode.Speed);
- frontRight.changeControlMode(TalonControlMode.Speed);
- rearLeft.changeControlMode(TalonControlMode.Speed);
- rearRight.changeControlMode(TalonControlMode.Speed);
-
- frontLeft.configEncoderCodesPerRev(256);
- frontRight.configEncoderCodesPerRev(256);
- rearLeft.configEncoderCodesPerRev(256);
- rearRight.configEncoderCodesPerRev(256);
-
- frontLeft.enableControl();
- frontRight.enableControl();
- rearLeft.enableControl();
- rearRight.enableControl();
- }
-
- public void enablePIDControllers() {
- frontLeftC.enable();
- frontRightC.enable();
- rearLeftC.enable();
- rearRightC.enable();
- }
-
- public void drive(double left, double right) {
- frontLeftC.setSetpoint(left);
- rearLeftC.setSetpoint(left);
- frontRightC.setSetpoint(right);
- rearRightC.setSetpoint(right);
- }
-
public void resetEncoders() {
leftEncoder.reset();
rightEncoder.reset();