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package org.usfirst.frc.team3695.robot.subsystems;
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import org.usfirst.frc.team3695.robot.Constants;
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import org.usfirst.frc.team3695.robot.commands.ManualCommandDrive;
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import org.usfirst.frc.team3695.robot.util.Xbox;
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import com.ctre.CANTalon;
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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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import edu.wpi.first.wpilibj.command.Subsystem;
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/** VROOM VROOM */
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public class SubsystemDrive extends Subsystem {
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private TalonSRX left1;
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private TalonSRX left2;
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private TalonSRX right1;
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private TalonSRX right2;
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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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/** 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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/** 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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/** 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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/** 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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/** apply left motor invert */
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public static final double leftify(double left) {
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return left * (Constants.LEFT_MOTOR_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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return right * (Constants.RIGHT_MOTOR_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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// masters
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left1 = new TalonSRX(Constants.LEFT_MASTER);
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right1 = new TalonSRX(Constants.RIGHT_MASTER);
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// slaves
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left2 = new TalonSRX(Constants.LEFT_SLAVE);
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right2 = new TalonSRX(Constants.RIGHT_SLAVE);
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//voltage(left1);
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//voltage(left2);
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//voltage(right1);
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//voltage(right2);
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}
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/** simple rocket league drive code; independent rotation and acceleration */
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public void driveRLTank(Joystick joy) {
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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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//Quick Truncate
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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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left1.set(ControlMode.PercentOutput, leftify(left));
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left2.set(ControlMode.PercentOutput, leftify(left));
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right1.set(ControlMode.PercentOutput, rightify(right));
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right2.set(ControlMode.PercentOutput, rightify(right));
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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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public void driveForza(Joystick joy, double ramp, double radius) {
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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 (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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/// ramps
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left1.configOpenloopRamp(ramp, 0);
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left2.configOpenloopRamp(ramp, 0);
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right1.configOpenloopRamp(ramp, 0);
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right2.configOpenloopRamp(ramp, 0);
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left1.set(ControlMode.PercentOutput, leftify(left));
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left2.set(ControlMode.PercentOutput, leftify(left));
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right1.set(ControlMode.PercentOutput, rightify(right));
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right2.set(ControlMode.PercentOutput, rightify(right));
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}
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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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}
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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.