import edu.wpi.first.wpilibj.command.PIDSubsystem;
public class DriveTrain extends PIDSubsystem {
- /*
- * A setpoint is the value we want the PID controller to attempt to adjust the
- * system to
- * In other words, If we want to drive the robot 4 meters, the setpoint would
- * be 4 meters
- */
-
- // Encoder PID Proportional Constants P, I, and D
- private static double EP = 0.013, EI = 0.000015, ED = -0.002;
-
- // Gyro PID Constants P, I, and D
- private static double GP = 0.018, GI = 0.000015, GD = 0;
+ 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;
-
- // PID Controller tolerances for the error
private static double encoderTolerance = 8.0, gyroTolerance = 5.0;
-
- // Current Drive Mode Default Drive Mode is Manual
private int DRIVE_MODE = 1;
- // Different Drive Modes
private static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
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(EP, EI, ED);
+ super(kp, ki, kd);
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
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,
gyro.start();
leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_FORWARD,
- Constants.DriveTrain.LEFT_REVERSE);
+ +Constants.DriveTrain.LEFT_REVERSE);
rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.RIGHT_FORWARD,
Constants.DriveTrain.RIGHT_REVERSE);
- Constants.DriveTrain.inverted = false;
}
@Override
setDefaultCommand(new JoystickDrive());
}
- // Print tne PID Output
public void printOutput() {
System.out.println("PIDOutput: " + pidOutput);
}
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();
rightEncoder.reset();
}
+ public double getLeftLidarDistance() {
+ return leftLidar.pidGet();
+ }
+
+ public double getsRightLidarDistance() {
+ return rightLidar.pidGet();
+ }
+
public double getRightSpeed() {
return rightEncoder.getRate(); // in inches per second
}
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());
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(EP, EI, ED);
+ this.getPIDController().setPID(kp, ki, kd);
else
- this.getPIDController().setPID(GP, GD, GI);
+ this.getPIDController().setPID(gp, gd, gi);
}
public CANTalon getFrontLeft() {
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;
if (Math.abs(output) > 0 && Math.abs(output) < 0.3)
output = Math.signum(output) * 0.3;
left = output;
- right = output + drift * EP / 10;
- }
- else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
+ right = output + drift * kp / 10;
+ } else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
left = output;
right = -output;
}
return sensorFeedback();
}
- /*
- * Checks the drive 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
- */
private double sensorFeedback() {
if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE)
return getAvgEncoderDistance();
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.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(GP, GI, GD);
+ this.getPIDController().setPID(gp, gi, gd);
this.setAbsoluteTolerance(gyroTolerance);
this.setOutputRange(-1.0, 1.0);
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();
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);
projects / 3501 / stronghold-2016 / commitdiff