From: Harel Dor <hareldor@gmail.com>
Date: Thu, 10 Mar 2016 02:00:52 +0000 (-0800)
Subject: Modify code to allow switching of joystick drive type (tank vs. arcade)
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=43338192ef5ba0ab179068dfffc5fb609217d36f

Modify code to allow switching of joystick drive type (tank vs. arcade)
---

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index a703b0b9..0b376c71 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -37,18 +37,17 @@ public class Constants {
   }
 
   public static class DriveTrain {
-    // Drivetrain Motor Related Ports
+    public static final int TANK_DRIVE = 0;
+    public static final int ARCADE_DRIVE = 1;
+    public static final int DRIVE_TYPE = TANK_DRIVE;
+
+    // Drivetrain Motor related ports
     public static final int DRIVE_FRONT_LEFT = 1;
     public static final int DRIVE_REAR_LEFT = 2;
     public static final int DRIVE_FRONT_RIGHT = 6;
     public static final int DRIVE_REAR_RIGHT = 5;
 
-    // Encoder related ports
-    public final static int ENCODER_LEFT_A = 0;
-    public final static int ENCODER_LEFT_B = 1;
-    public final static int ENCODER_RIGHT_A = 3;
-    public final static int ENCODER_RIGHT_B = 4;
-
+    // Drivetrain shifter related ports
     public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
     public static final int LEFT_SHIFT_FORWARD = 3;
     public static final int LEFT_SHIFT_REVERSE = 6;
@@ -56,6 +55,12 @@ public class Constants {
     public static final int RIGHT_SHIFT_FORWARD = 2;
     public static final int RIGHT_SHIFT_REVERSE = 7;
 
+    // Encoder related ports
+    public final static int ENCODER_LEFT_A = 0;
+    public final static int ENCODER_LEFT_B = 1;
+    public final static int ENCODER_RIGHT_A = 3;
+    public final static int ENCODER_RIGHT_B = 4;
+
     public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
 
     public static double kp = 0.013, ki = 0.000015, kd = -0.002;
diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
index 3db43880..a3fed004 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -21,11 +21,9 @@ public class JoystickDrive extends Command {
 
   @Override
   protected void execute() {
-    double k = (Robot.driveTrain.isFlipped() ? -1 : 1);
-    // IDK why but the joystick gives positive values for pulling backwards
     double left = -OI.leftJoystick.getY();
     double right = -OI.rightJoystick.getY();
-    Robot.driveTrain.drive(left * k, right * k);
+    Robot.driveTrain.joystickDrive(left, right);
   }
 
   @Override
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index c68b472e..779bd9de 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 
 import edu.wpi.first.wpilibj.CANTalon;
@@ -49,9 +50,12 @@ public class DriveTrain extends PIDSubsystem {
     this.disable();
 
     leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_SHIFT_MODULE,
-        Constants.DriveTrain.LEFT_SHIFT_FORWARD, Constants.DriveTrain.LEFT_SHIFT_REVERSE);
-    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.RIGHT_SHIFT_MODULE,
-        Constants.DriveTrain.RIGHT_SHIFT_FORWARD, Constants.DriveTrain.RIGHT_SHIFT_REVERSE);
+        Constants.DriveTrain.LEFT_SHIFT_FORWARD,
+        Constants.DriveTrain.LEFT_SHIFT_REVERSE);
+    rightGearPiston = new DoubleSolenoid(
+        Constants.DriveTrain.RIGHT_SHIFT_MODULE,
+        Constants.DriveTrain.RIGHT_SHIFT_FORWARD,
+        Constants.DriveTrain.RIGHT_SHIFT_REVERSE);
   }
 
   @Override
@@ -80,7 +84,7 @@ public class DriveTrain extends PIDSubsystem {
   }
 
   public void stop() {
-    drive(0, 0);
+    setMotorSpeeds(0, 0);
   }
 
   public void resetEncoders() {
@@ -169,7 +173,7 @@ public class DriveTrain extends PIDSubsystem {
       output = Math.signum(output) * 0.3;
     left = output;
     right = output + drift * Constants.DriveTrain.kp / 10;
-    drive(left, right);
+    setMotorSpeeds(left, right);
     pidOutput = output;
   }
 
@@ -188,23 +192,19 @@ public class DriveTrain extends PIDSubsystem {
     return getAvgEncoderDistance();
   }
 
-  /*
-   * @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);
+  public void joystickDrive(double left, double right) {
+    int type = Constants.DriveTrain.DRIVE_TYPE;
+    double k = (isFlipped() ? -1 : 1);
+    if (type == Constants.DriveTrain.TANK_DRIVE) {
+      robotDrive.tankDrive(-left * k, -right * k);
+    } else if (type == Constants.DriveTrain.ARCADE_DRIVE) {
+      robotDrive.arcadeDrive(left * k, right);
+    }
   }
 
   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);
+    double k = (Robot.driveTrain.isFlipped() ? -1 : 1);
+    robotDrive.tankDrive(-left * k, -right * k);
   }
 
   /**