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package frc.robot.subsystems;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.proto.Trajectory;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import frc.robot.util.IMUGyro;
public class Drivetrain extends SubsystemBase
{
private IMUGyro m_gyro = Constants.gyro;
private CANSparkMax m_motorL_leader = Constants.motorL_leader;
private CANSparkMax m_motorL_follower = Constants.motorL_follower;
private CANSparkMax m_motorR_leader = Constants.motorR_leader;
private CANSparkMax m_motorR_follower = Constants.motorR_follower;
private Encoder m_encoderL = Constants.encoderL;
private Encoder m_encoderR = Constants.encoderR;
private SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1.1, 3.16, 0.17);
private final PIDController m_pidL = new PIDController(1, 0, 0);
private final PIDController m_pidR = new PIDController(1, 0, 0);
private DifferentialDriveKinematics m_kinematics =
new DifferentialDriveKinematics(Constants.TrackWidth);
private DifferentialDriveOdometry m_odometry;
public Drivetrain()
{
m_gyro.reset();
m_gyro.calibrateGyro(10000);
m_motorR_follower.follow(m_motorR_leader);
m_motorL_follower.follow(m_motorL_leader);
m_motorR_leader.setInverted(true);
m_encoderL.setReverseDirection(true);
m_encoderL.setDistancePerPulse(Math.PI * Constants.WheelDiameter / Constants.EncoderResolution);
m_encoderR.setDistancePerPulse(Math.PI * Constants.WheelDiameter / Constants.EncoderResolution);
m_encoderL.reset();
m_encoderR.reset();
m_odometry = new DifferentialDriveOdometry(
m_gyro.toRotation2d(),
Constants.encoderL.getDistance(),
Constants.encoderR.getDistance());
}
// speed - linear velocity in m/s
// rot - angular velocity in rad/s
public void arcade(double speed, double rot)
{
speed(m_kinematics.toWheelSpeeds(new ChassisSpeeds(speed, 0.0, rot)));
}
// in m/s
public void tank(double left, double right)
{
speed(new DifferentialDriveWheelSpeeds(left, right));
}
public void speed(DifferentialDriveWheelSpeeds speeds)
{
voltage(
m_pidL.calculate(m_encoderL.getRate(), speeds.leftMetersPerSecond)
+ m_feedforward.calculate(speeds.leftMetersPerSecond),
m_pidR.calculate(m_encoderR.getRate(), speeds.rightMetersPerSecond)
+ m_feedforward.calculate(speeds.rightMetersPerSecond)
);
}
public void voltage(double leftVolts, double rightVolts)
{
m_motorL_leader.setVoltage(leftVolts);
m_motorR_leader.setVoltage(rightVolts);
}
public Pose2d pose2d()
{
System.out.println("Distance: " + m_encoderL.getDistance());
System.out.println("Distance: " + m_encoderR.getDistance());
return m_odometry.getPoseMeters();
}
public void reset()
{
m_gyro.reset();
m_encoderL.reset();
m_encoderR.reset();
m_odometry = new DifferentialDriveOdometry(
m_gyro.toRotation2d(),
Constants.encoderL.getDistance(),
Constants.encoderR.getDistance());
}
@Override
public void periodic()
{
m_gyro.update();
m_odometry.update(
m_gyro.toRotation2d(),
m_encoderL.getDistance(),
m_encoderR.getDistance());
}
@Override
public void simulationPeriodic() {
// This method will be called once per scheduler run during simulation
}
public Command trajectory(Trajectory trajectory)
{
// return this.runOnce(...)
return Commands.none();
}
}
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