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package org.usfirst.frc.team3695.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import edu.wpi.first.wpilibj.AnalogGyro;
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import edu.wpi.first.wpilibj.BuiltInAccelerometer;
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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.interfaces.Gyro;
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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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import com.ctre.phoenix.motorcontrol.ControlMode;
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import com.ctre.phoenix.motorcontrol.can.TalonSRX;
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import edu.wpi.first.wpilibj.Joystick;
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/**
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* VROOM VROOM
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*/
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public class SubsystemDrive extends Subsystem {
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private TalonSRX leftMaster;
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private TalonSRX leftSlave;
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private TalonSRX rightMaster;
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private TalonSRX rightSlave;
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public Drivetrain drivetrain;
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private Accelerometer accel;
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/**
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* Allowable tolerance to be considered in range when driving a distance, in rotations
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*/
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public static final double DISTANCE_ALLOWABLE_ERROR = SubsystemDrive.in2rot(2.0);
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/**
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* runs at robot boot
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*/
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public void initDefaultCommand() {
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setDefaultCommand(new ManualCommandDrive());
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}
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public static final double leftMag2in(double leftMag) {
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return leftMag / Constants.LEFT_MAGIC_PER_INCHES;
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}
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public static final double rightMag2in(double rightMag) {
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return rightMag / Constants.LEFT_MAGIC_PER_INCHES;
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}
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/** converts RPM to inches per second */
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public static final 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 final 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 final 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 final 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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left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
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Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.LEFT_MOTOR_INVERT : Constants.SWISS.LEFT_PINION_MOTOR_INVERT;
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return left * (invert ? -1.0 : 1.0);
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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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right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
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Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.RIGHT_MOTOR_INVERT : Constants.SWISS.RIGHT_MOTOR_INVERT;
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return right * (invert ? -1.0 : 1.0);
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}
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/** gives birth to the CANTalons */
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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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// 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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}
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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 double getYAngle(){
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//http://www.hobbytronics.co.uk/accelerometer-info
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return Math.atan(accel.getY()/Math.sqrt(Math.pow(accel.getX(),2) + Math.pow(accel.getZ(),2)));
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}
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/**
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* simple rocket league drive code
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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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/// ramps
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leftMaster.configOpenloopRamp(ramp, 10);
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leftSlave.configOpenloopRamp(ramp, 10);
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rightMaster.configOpenloopRamp(ramp, 10);
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rightSlave.configOpenloopRamp(ramp, 10);
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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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// leftSlave.set(ControlMode.Follower, leftify(left));
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rightMaster.set(ControlMode.PercentOutput, rightify(right));
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// rightSlave.set(ControlMode.Follower, rightify(right));
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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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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 (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 (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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/// ramps
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leftMaster.configOpenloopRamp(ramp, 10);
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leftSlave.configOpenloopRamp(ramp, 10);
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rightMaster.configOpenloopRamp(ramp, 10);
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rightSlave.configOpenloopRamp(ramp, 10);
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leftMaster.set(ControlMode.PercentOutput, leftify(left) * inhibitor);
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// leftSlave.set(ControlMode.PercentOutput, leftify(left));
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rightMaster.set(ControlMode.PercentOutput, rightify(right) * inhibitor);
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// rightSlave.set(ControlMode.PercentOutput, rightify(right));
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}
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191
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/** configures the voltage of each CANTalon */
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private void voltage(TalonSRX talon) {
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// talon.configNominalOutputVoltage(0f, 0f);
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// talon.configPeakOutputVoltage(12.0f, -12.0f);
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// talon.enableCurrentLimit(true);
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// talon.configContinuousCurrentLimit(35, 300);
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}
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public double getError() {
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return (leftify(leftMaster.getErrorDerivative(Constants.LEFT_PID)) + rightify(rightMaster.getErrorDerivative(Constants.RIGHT_PID))) / 2.0;
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}
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double getRightPos() {
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return rightMaster.getSelectedSensorPosition(Constants.RIGHT_PID);
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}
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double getLeftPos() {
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return leftMaster.getSelectedSensorPosition(Constants.LEFT_PID);
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}
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211
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public boolean driveDistance(double leftIn, double rightIn) {
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double leftGoal = in2rot(leftIn);
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double rightGoal = in2rot(rightIn);
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leftMaster.set(ControlMode.MotionMagic, leftGoal);
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rightMaster.set(ControlMode.MotionMagic, rightGoal);
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boolean leftInRange =
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getLeftPos() > leftify(leftGoal) - DISTANCE_ALLOWABLE_ERROR &&
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getLeftPos() < leftify(leftGoal) + DISTANCE_ALLOWABLE_ERROR;
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boolean rightInRange =
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getRightPos() > rightify(rightGoal) - DISTANCE_ALLOWABLE_ERROR &&
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getRightPos() < rightify(rightGoal) + DISTANCE_ALLOWABLE_ERROR;
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225
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return leftInRange && rightInRange;
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}
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227
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228
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public void driveDirect(double left, double right) {
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leftMaster.set(ControlMode.PercentOutput, left);
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rightMaster.set(ControlMode.PercentOutput, right);
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}
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232
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233
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public void setPIDF(double p, double i, double d, double f) {
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234
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rightMaster.config_kF(Constants.RIGHT_PID, f, Constants.TIMEOUT_PID);
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235
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rightMaster.config_kP(Constants.RIGHT_PID, p, Constants.TIMEOUT_PID);
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236
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rightMaster.config_kI(Constants.RIGHT_PID, i, Constants.TIMEOUT_PID);
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237
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rightMaster.config_kD(Constants.RIGHT_PID, d, Constants.TIMEOUT_PID);
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238
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239
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leftMaster.config_kF(Constants.RIGHT_PID, f, Constants.TIMEOUT_PID);
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240
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leftMaster.config_kP(Constants.RIGHT_PID, p, Constants.TIMEOUT_PID);
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241
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leftMaster.config_kI(Constants.RIGHT_PID, i, Constants.TIMEOUT_PID);
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242
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leftMaster.config_kD(Constants.RIGHT_PID, d, Constants.TIMEOUT_PID);
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243
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}
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244
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245
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public void reset() {
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246
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leftMaster.setSelectedSensorPosition(0, Constants.LEFT_PID, Constants.TIMEOUT_PID);
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247
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rightMaster.setSelectedSensorPosition(0, Constants.RIGHT_PID, Constants.TIMEOUT_PID);
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248
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}
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249
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}
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250
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wh1ter0se /
PowerUp-2018
Loading history...
Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it.