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package org.usfirst.frc.team3695.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.ControlMode;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
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import com.ctre.phoenix.motorcontrol.can.TalonSRX;
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import edu.wpi.first.wpilibj.BuiltInAccelerometer;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.command.Subsystem;
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import edu.wpi.first.wpilibj.interfaces.Accelerometer;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import org.usfirst.frc.team3695.robot.Constants;
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import org.usfirst.frc.team3695.robot.Robot;
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import org.usfirst.frc.team3695.robot.commands.ManualCommandDrive;
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import org.usfirst.frc.team3695.robot.enumeration.Bot;
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import org.usfirst.frc.team3695.robot.enumeration.Drivetrain;
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import org.usfirst.frc.team3695.robot.util.Xbox;
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/** VROOM VROOM */
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public class SubsystemDrive extends Subsystem {
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private static TalonSRX leftMaster;
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private static TalonSRX leftSlave;
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private static TalonSRX rightMaster;
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private static TalonSRX rightSlave;
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public Drivetrain drivetrain;
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public static boolean reversing;
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public static boolean docking;
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private static double dockInhibitor;
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private Accelerometer accel;
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public PID pid; // instantiate innerclass
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/* Allowable tolerance to be considered in range when driving a distance, in rotations */
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public static final double DISTANCE_ALLOWABLE_ERROR = SubsystemDrive.in2rot(2.0);
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/* runs at robot boot */
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public void initDefaultCommand() {
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setDefaultCommand(new ManualCommandDrive());
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}
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/* converts left magnetic encoder's magic units to inches */
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public static double leftMag2In(double leftMag) {
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return leftMag / 212;
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}
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/* converts right magnetic encoder's magic units to inches */
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public static double rightMag2In(double rightMag) {
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return rightMag / 212;
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}
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/* converts left magnetic encoder's magic units to inches */
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public static double leftIn2Mag(double leftMag) {
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return leftMag * 212;
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}
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/* converts right magnetic encoder's magic units to inches */
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public static double rightIn2Mag(double rightMag) {
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// return rightMag * Constants.RIGHT_MAGIC_PER_INCHES;
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return rightMag * 212;
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}
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/* converts RPM to inches per second */
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public static double rpm2ips(double rpm) {
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return rpm / 60.0 * Constants.WHEEL_DIAMETER * Math.PI;
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}
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/* converts an inches per second number to RPM */
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public static double ips2rpm(double ips) {
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return ips * 60.0 / Constants.WHEEL_DIAMETER / Math.PI;
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}
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/* converts rotations to distance traveled in inches */
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public static double rot2in(double rot) {
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return rot * Constants.WHEEL_DIAMETER * Math.PI;
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}
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/* converts distance traveled in inches to rotations */
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public static double in2rot(double in) {
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return in / Constants.WHEEL_DIAMETER / Math.PI;
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}
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/* apply left motor invert */
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public static final double leftify(double left) {
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Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.LEFT_MOTOR_INVERT : Constants.TEUFELSKIND.LEFT_MOTOR_INVERT;
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return left * (invert ? -1.0 : 1.0) * (docking ? dockInhibitor : 1);
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}
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/* apply right motor invert */
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public static final double rightify(double right) {
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Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.RIGHT_MOTOR_INVERT : Constants.TEUFELSKIND.RIGHT_MOTOR_INVERT;
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return right * (invert ? -1.0 : 1.0) * (docking ? dockInhibitor : 1);
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}
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/**
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* gives birth to the talons and instantiates variables (including the Bot enum)
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*/
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public SubsystemDrive() {
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accel = new BuiltInAccelerometer();
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drivetrain = Drivetrain.ROCKET_LEAGUE;
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reversing = false;
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docking = false;
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dockInhibitor = 0.5d;
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pid = new PID();
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// masters
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leftMaster = new TalonSRX(Constants.LEFT_MASTER);
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leftMaster.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, Constants.LEFT_PID, Constants.TIMEOUT_PID);
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rightMaster = new TalonSRX(Constants.RIGHT_MASTER);
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rightMaster.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, Constants.RIGHT_PID, Constants.TIMEOUT_PID);
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// slaves
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leftSlave = new TalonSRX(Constants.LEFT_SLAVE);
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leftSlave.follow(leftMaster);
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rightSlave = new TalonSRX(Constants.RIGHT_SLAVE);
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rightSlave.follow(rightMaster);
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switch (Robot.bot){
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case TEUFELSKIND:
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PID.setPIDF(Constants.TEUFELSKIND.P, Constants.TEUFELSKIND.I, Constants.TEUFELSKIND.D, Constants.TEUFELSKIND.F);
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break;
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case OOF:
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PID.setPIDF(Constants.OOF.P, Constants.OOF.I, Constants.OOF.D, Constants.OOF.F);
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break;
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}
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}
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public void setDrivetrain(Drivetrain drivetrain) {
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this.drivetrain = drivetrain;
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}
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public void toggleDocking(double dockInhibitor){
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docking = !docking;
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this.dockInhibitor = dockInhibitor;
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}
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public void toggleReversing(){
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reversing = !reversing;
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}
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public double getYAngle() {
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//http://www.hobbytronics.co.uk/accelerometer-info
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//Formula for getting the angle through the accelerometer
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//arctan returns in radians so we convert to degrees.
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return Math.atan(accel.getY() / Math.sqrt(Math.pow(accel.getX(), 2) + Math.pow(accel.getZ(), 2))) * 180 / Math.PI;
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}
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/**
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* simple rocket league drive code (not actually rocket league)
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* independent rotation and acceleration
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*/
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public void driveRLTank(Joystick joy, double ramp, double inhibitor) {
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double adder = Xbox.RT(joy) - Xbox.LT(joy);
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double left = adder + (Xbox.LEFT_X(joy) / 1.333333);
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double right = adder - (Xbox.LEFT_X(joy) / 1.333333);
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left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
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right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
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setRamps(ramp);
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// if (getYAngle() > Constants.TILT_ANGLE ) {
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// leftMaster.set(ControlMode.PercentOutput, -1*Constants.RECOVERY_SPEED);
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// rightMaster.set(ControlMode.PercentOutput, -1*Constants.RECOVERY_SPEED);
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// } else if (getYAngle() < -1*Constants.TILT_ANGLE){
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// leftMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
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// rightMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
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// } else {
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leftMaster.set(ControlMode.PercentOutput, leftify(left));
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rightMaster.set(ControlMode.PercentOutput, rightify(right));
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// }
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}
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/**
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* drive code where rotation is dependent on acceleration
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* @param radius 0.00-1.00, 1 being zero radius and 0 being driving in a line
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*/
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public void driveForza(Joystick joy, double ramp, double radius, double inhibitor) {
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double left = 0,
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right = 0;
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double acceleration = Xbox.RT(joy) - Xbox.LT(joy);
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setRamps(ramp);
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// if (getYAngle() > Constants.TILT_ANGLE ) {
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// leftMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
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// rightMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
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// } else if (getYAngle() < -1 * Constants.TILT_ANGLE){
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// leftMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
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// rightMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
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// } else {
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if (!reversing ? Xbox.LEFT_X(joy) < 0 : Xbox.LEFT_X(joy) > 0) {
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right = acceleration;
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left = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;
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} else if (!reversing ? Xbox.LEFT_X(joy) > 0 : Xbox.LEFT_X(joy) < 0) {
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left = acceleration;
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right = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;
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} else {
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left = acceleration;
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right = acceleration;
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}
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// }][\
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left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
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right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
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leftMaster.set(ControlMode.PercentOutput, leftify(left) * inhibitor * (reversing ? -1.0 : 1.0));
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rightMaster.set(ControlMode.PercentOutput, rightify(right) * inhibitor * (reversing ? -1.0 : 1.0));
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SmartDashboard.putString("Left Master", "Left Master Voltage: " + leftMaster.getBusVoltage());
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SmartDashboard.putString("Right Master", "Right Master Voltage: " + rightMaster.getBusVoltage());
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}
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public void setRamps(double ramp) {
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if (leftMaster != null)
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leftMaster.configOpenloopRamp(ramp, 10);
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if (leftSlave != null)
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leftSlave.configOpenloopRamp(ramp, 10);
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if (rightMaster != null)
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rightMaster.configOpenloopRamp(ramp, 10);
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if (rightSlave != null)
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rightSlave.configOpenloopRamp(ramp, 10);
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}
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240
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241
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public boolean driveDistance(double leftIn, double rightIn) {
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double leftGoal = (leftIn2Mag(leftIn));
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double rightGoal = (rightIn2Mag(rightIn));
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leftMaster.set(ControlMode.Position, leftify(leftGoal));
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leftSlave.follow(leftMaster);
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rightMaster.set(ControlMode.Position, rightify(rightGoal));
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rightSlave.follow(rightMaster);
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249
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boolean leftInRange =
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pid.getLeftInches() > leftify(leftGoal) - DISTANCE_ALLOWABLE_ERROR &&
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pid.getLeftInches() < leftify(leftGoal) + DISTANCE_ALLOWABLE_ERROR;
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boolean rightInRange =
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pid.getRightInches() > rightify(rightGoal) - DISTANCE_ALLOWABLE_ERROR &&
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254
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pid.getRightInches() < rightify(rightGoal) + DISTANCE_ALLOWABLE_ERROR;
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255
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return leftInRange && rightInRange;
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256
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}
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257
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258
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public void driveDirect(double left, double right) {
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259
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left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
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260
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right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
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261
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leftMaster.set(ControlMode.PercentOutput, leftify(left));
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262
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rightMaster.set(ControlMode.PercentOutput, rightify(right));
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263
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}
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264
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|
|
|
|
265
|
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public void setInverts() {
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266
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rightMaster.setInverted(Robot.bot == Bot.OOF ? Constants.OOF.RIGHT_MASTER_INVERT : Constants.TEUFELSKIND.RIGHT_MASTER_INVERT);
|
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267
|
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rightSlave.setInverted(Robot.bot == Bot.OOF ? Constants.OOF.RIGHT_SLAVE_INVERT : Constants.TEUFELSKIND.RIGHT_SLAVE_INVERT);
|
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268
|
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|
leftMaster.setInverted(Robot.bot == Bot.OOF ? Constants.OOF.LEFT_MASTER_INVERT : Constants.TEUFELSKIND.LEFT_MASTER_INVERT);
|
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269
|
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leftSlave.setInverted(Robot.bot == Bot.OOF ? Constants.OOF.LEFT_SLAVE_INVERT : Constants.TEUFELSKIND.LEFT_SLAVE_INVERT);
|
|
270
|
|
|
}
|
|
271
|
|
|
|
|
272
|
|
|
|
|
273
|
|
|
public static class PID {
|
|
274
|
|
|
Boolean enabled;
|
|
275
|
|
|
|
|
276
|
|
|
public PID() {
|
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277
|
|
|
enabled = true;
|
|
278
|
|
|
}
|
|
279
|
|
|
public static void setPIDF(double p, double i, double d, double f) {
|
|
280
|
|
|
//For future reference: Inverts must be applied individually
|
|
281
|
|
|
setPIDF(Robot.SUB_DRIVE.leftMaster, false, p, i, d, f);
|
|
282
|
|
|
setPIDF(Robot.SUB_DRIVE.leftSlave, false, p, i, d, f);
|
|
283
|
|
|
setPIDF(Robot.SUB_DRIVE.rightMaster, true, p, i, d, f);
|
|
284
|
|
|
setPIDF(Robot.SUB_DRIVE.rightSlave, true, p, i, d, f);
|
|
285
|
|
|
}
|
|
286
|
|
|
|
|
287
|
|
|
public static void setPIDF(TalonSRX _talon, Boolean invert, double p, double i, double d, double f) {
|
|
288
|
|
|
/* first choose the sensor */
|
|
289
|
|
|
_talon.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative,
|
|
290
|
|
|
0, Constants.TIMEOUT_PID);
|
|
291
|
|
|
_talon.setSensorPhase(true);
|
|
292
|
|
|
_talon.setInverted(invert);
|
|
293
|
|
|
/* Set relevant frame periods to be at least as fast as periodic rate*/
|
|
294
|
|
|
_talon.setStatusFramePeriod(StatusFrameEnhanced.Status_13_Base_PIDF0, 10,
|
|
|
|
|
|
|
295
|
|
|
Constants.TIMEOUT_PID);
|
|
296
|
|
|
_talon.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10,
|
|
|
|
|
|
|
297
|
|
|
Constants.TIMEOUT_PID);
|
|
298
|
|
|
/* set the peak and nominal outputs */
|
|
299
|
|
|
_talon.configNominalOutputForward(0, Constants.TIMEOUT_PID);
|
|
300
|
|
|
_talon.configNominalOutputReverse(0, Constants.TIMEOUT_PID);
|
|
301
|
|
|
_talon.configPeakOutputForward(1, Constants.TIMEOUT_PID);
|
|
302
|
|
|
_talon.configPeakOutputReverse(-1, Constants.TIMEOUT_PID);
|
|
303
|
|
|
/* set closed loop gains in slot0 - see documentation */
|
|
304
|
|
|
_talon.selectProfileSlot(0, Constants.RIGHT_PID);
|
|
305
|
|
|
_talon.config_kP(0, p, Constants.TIMEOUT_PID);
|
|
306
|
|
|
_talon.config_kI(0, i, Constants.TIMEOUT_PID);
|
|
307
|
|
|
_talon.config_kD(0, d, Constants.TIMEOUT_PID);
|
|
308
|
|
|
_talon.config_kF(0, f, Constants.TIMEOUT_PID);
|
|
309
|
|
|
/* set acceleration and vcruise velocity - see documentation */
|
|
310
|
|
|
_talon.configMotionCruiseVelocity(15000, Constants.TIMEOUT_PID);
|
|
|
|
|
|
|
311
|
|
|
_talon.configMotionAcceleration(6000, Constants.TIMEOUT_PID);
|
|
|
|
|
|
|
312
|
|
|
}
|
|
313
|
|
|
|
|
314
|
|
|
public void zeroEncoders() {
|
|
315
|
|
|
Robot.SUB_DRIVE.leftMaster.setSelectedSensorPosition(0, 0, Constants.TIMEOUT_PID);
|
|
316
|
|
|
Robot.SUB_DRIVE.rightMaster.setSelectedSensorPosition(0, 0, Constants.TIMEOUT_PID);
|
|
317
|
|
|
Robot.SUB_DRIVE.leftMaster.setIntegralAccumulator(0,0, Constants.TIMEOUT_PID);
|
|
318
|
|
|
Robot.SUB_DRIVE.rightMaster.setIntegralAccumulator(0,0, Constants.TIMEOUT_PID);
|
|
319
|
|
|
}
|
|
320
|
|
|
|
|
321
|
|
|
public double getError() {
|
|
322
|
|
|
return (leftify(Robot.SUB_DRIVE.leftMaster.getErrorDerivative(Constants.LEFT_PID)) + rightify(Robot.SUB_DRIVE.rightMaster.getErrorDerivative(Constants.RIGHT_PID))) / 2.0;
|
|
|
|
|
|
|
323
|
|
|
}
|
|
324
|
|
|
|
|
325
|
|
|
public double getRightInches() {
|
|
326
|
|
|
return rightMag2In(Robot.SUB_DRIVE.rightMaster.getSelectedSensorPosition(Constants.RIGHT_PID));
|
|
327
|
|
|
}
|
|
328
|
|
|
|
|
329
|
|
|
public double getLeftInches() {
|
|
330
|
|
|
return leftMag2In(Robot.SUB_DRIVE.leftMaster.getSelectedSensorPosition(Constants.LEFT_PID));
|
|
331
|
|
|
}
|
|
332
|
|
|
|
|
333
|
|
|
public void reset() {
|
|
334
|
|
|
Robot.SUB_DRIVE.leftMaster.setSelectedSensorPosition(0, Constants.LEFT_PID, Constants.TIMEOUT_PID);
|
|
335
|
|
|
Robot.SUB_DRIVE.rightMaster.setSelectedSensorPosition(0, Constants.RIGHT_PID, Constants.TIMEOUT_PID);
|
|
336
|
|
|
}
|
|
337
|
|
|
}
|
|
338
|
|
|
}
|
|
339
|
|
|
|
wh1ter0se /
PowerUp-2018
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See this CWE advisory on why this is a security issue.