RiseOfRidgebotics2020/src/main/java/frc4388/robot/subsystems/Drive.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc4388.robot.subsystems;

import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.DemandType;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.FollowerType;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.SensorTerm;
import com.ctre.phoenix.motorcontrol.StatusFrame;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;

import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpiutil.math.MathUtil;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Gains;

/**
 * Add your docs here.
 */
public class Drive extends SubsystemBase {
  // Put methods for controlling this subsystem
  // here. Call these from Commands.

  public WPI_TalonFX m_leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
  public WPI_TalonFX m_rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
  public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
  public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
  public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);

  public double m_rightFrontMotorPos;

  public double m_rightFrontMotorVel;

  public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);

  SendableChooser<Gains> m_chooser = new SendableChooser<Gains>();
  public static Gains m_gainsDistance = DriveConstants.DRIVE_DISTANCE_GAINS;
  public static Gains m_gainsVelocity = DriveConstants.DRIVE_VELOCITY_GAINS;
  public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
  //public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
  
  public final DifferentialDriveOdometry m_odometry;
  
  public DoubleSolenoid m_speedShift;
  public DoubleSolenoid m_coolFalcon;

  public int m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);

  public long m_lastTime, m_deltaTime; //in milliseconds

  public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle;

  /**
   * Add your docs here.
   */
  public Drive() {
    /* factory default values */
    m_leftFrontMotor.configFactoryDefault();
    m_rightFrontMotor.configFactoryDefault();
    m_leftBackMotor.configFactoryDefault();
    m_rightBackMotor.configFactoryDefault();
    m_pigeon.configFactoryDefault();
    resetGyroYaw();

    m_odometry = new DifferentialDriveOdometry( Rotation2d.fromDegrees(getHeading()), 
                                                new Pose2d(0, 0, new Rotation2d()) );

    m_speedShift = new DoubleSolenoid(7,0,1);
    m_coolFalcon = new DoubleSolenoid(7,3,2);

    coolFalcon(false);
    
    /* set back motors as followers */
    m_leftBackMotor.follow(m_leftFrontMotor);
    m_rightBackMotor.follow(m_rightFrontMotor);

    /* flip input so forward becomes back, etc */
    m_leftFrontMotor.setInverted(false);
    m_rightFrontMotor.setInverted(true);
    m_driveTrain.setRightSideInverted(false);
    m_leftBackMotor.setInverted(InvertType.FollowMaster);
    m_rightBackMotor.setInverted(InvertType.FollowMaster);

    setDriveTrainNeutralMode(NeutralMode.Coast);

    /* deadbands */
    m_leftBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE
    m_rightBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed
    //m_leftFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE
    //m_rightFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed

    /* PID for Front Motor Control in Teleop */
    //m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
    //m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
    //m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
    //m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
    //m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
    //m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);

    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
    m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);

    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
    m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);

    //m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
    //m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
    //m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
    //m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
    //m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
    //m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
    //m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
    //m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
    //m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);

    /* PID for Back Motor control in Auto */
    m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
    m_rightBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);

    m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
    m_leftBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
    m_leftBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
    m_leftBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
    m_leftBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
    m_leftBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);

    /* Setup Sensors for WPI_TalonFXs */
    resetEncoders();

    /* Configure the left Talon's selected sensor as local QuadEncoder */
    m_leftFrontMotor.configSelectedFeedbackSensor(  FeedbackDevice.IntegratedSensor, // Local Feedback Source
                                                    DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
                                                    DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout

    /* Configure the left back Talon's selected sensor as local QuadEncoder */
    m_leftBackMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
                                                  DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
                                                  DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
                                                  
    /* Configure the right back Talon's selected sensor as local QuadEncoder */
    m_rightBackMotor.configSelectedFeedbackSensor(  FeedbackDevice.IntegratedSensor, // Local Feedback Source
                                                    DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
                                                    DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout

    /* Configure the Remote Talon's selected sensor as a remote sensor for the right Talon */
    m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source
                                                  RemoteSensorSource.TalonSRX_SelectedSensor, DriveConstants.REMOTE_0, // Source number [0, 1]
                                                  DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout

    /* Configure the Pigeon IMU to the other Remote Slot available on the right Talon */
    m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(), RemoteSensorSource.Pigeon_Yaw,
                                                  DriveConstants.REMOTE_1, DriveConstants.DRIVE_TIMEOUT_MS);

    /* Setup Sum signal to be used for Distance */
    m_rightFrontMotor.configSensorTerm(SensorTerm.Sum0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);

    /* Diff Signal */
    m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);

    /* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */
    configMotorSensor(FeedbackDevice.SensorDifference);

    /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */
    /*
    m_rightFrontMotor.configSelectedFeedbackCoefficient(  1, // Coefficient
                                                          DriveConstants.PID_PRIMARY, // PID Slot of Source
                                                          DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
    */

    m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1,
                                                    DriveConstants.PID_TURN,
                                                    DriveConstants.DRIVE_TIMEOUT_MS);

    /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */
    //m_rightFrontMotor.configSelectedFeedbackCoefficient(1, DriveConstants.PID_TURN, DriveConstants.DRIVE_TIMEOUT_MS);

    /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */
    //m_leftFrontMotor.configSelectedFeedbackCoefficient(1, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);

    /* Set status frame periods to ensure we don't have stale data */
    m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
    m_leftFrontMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 5, DriveConstants.DRIVE_TIMEOUT_MS);
    m_pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 5, DriveConstants.DRIVE_TIMEOUT_MS);

    m_leftBackMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightBackMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);

    /**
     * Max out the peak output (for all modes). However you can limit the output of
     * a given PID object with configClosedLoopPeakOutput().
     */
    m_leftFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
    m_leftFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);

    m_leftBackMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
    m_leftBackMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightBackMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightBackMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);

    /**
     * 1ms per loop. PID loop can be slowed down if need be. For example, - if
     * sensor updates are too slow - sensor deltas are very small per update, so
     * derivative error never gets large enough to be useful. - sensor movement is
     * very slow causing the derivative error to be near zero.
     */
    int closedLoopTimeMs = 1;
    m_rightFrontMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY, 
                                              closedLoopTimeMs, 
                                              DriveConstants.DRIVE_TIMEOUT_MS);

    m_rightFrontMotor.configClosedLoopPeriod( DriveConstants.PID_TURN, 
                                              closedLoopTimeMs,
                                              DriveConstants.DRIVE_TIMEOUT_MS);

    m_leftBackMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY, 
                                              closedLoopTimeMs,
                                              DriveConstants.DRIVE_TIMEOUT_MS);

    m_leftBackMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY, 
                                              closedLoopTimeMs,
                                              DriveConstants.DRIVE_TIMEOUT_MS);
    
    /**
     * configAuxPIDPolarity(boolean invert, int timeoutMs) false means talon's local
     * output is PID0 + PID1, and other side Talon is PID0 - PID1 true means talon's
     * local output is PID0 - PID1, and other side Talon is PID0 + PID1
     */
    m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);

    m_lastTime = System.currentTimeMillis();
  }

  @Override
  public void periodic() {
    m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
    SmartDashboard.putNumber("Time Seconds", System.currentTimeMillis());

    if (m_currentTimeSec % 10 == 0) {
      coolFalcon(true);
      SmartDashboard.putBoolean("Solenoid", true);
    } else if ((m_currentTimeSec - 2) % 10 == 0) {
      coolFalcon(false);
      SmartDashboard.putBoolean("Solenoid", false);
    }

    m_deltaTime = System.currentTimeMillis() - m_lastTime;
    m_lastTime = System.currentTimeMillis();
    m_lastAngleYaw = m_currentAngleYaw;
    m_currentAngleYaw = getGyroYaw();

    m_rightFrontMotorPos = m_rightFrontMotor.getSelectedSensorPosition();
    m_rightFrontMotorVel = m_rightFrontMotor.getSelectedSensorVelocity();
    
    try {
      SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
      //SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
      //SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
      SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
      SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());

      SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
      SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
      //SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
      //SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
      SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
      SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());

      SmartDashboard.putNumber("Right Motor Temp", m_rightFrontMotor.getTemperature());
      SmartDashboard.putNumber("Left Motor Temp", m_leftFrontMotor.getTemperature());

      //SmartDashboard.putNumber("Right Front Motor Current Supply", m_rightFrontMotor.getSupplyCurrent());
      //SmartDashboard.putNumber("Left Front Motor Current Supply", m_leftFrontMotor.getSupplyCurrent());
      //SmartDashboard.putNumber("Right Front Motor Current Stator ", m_rightFrontMotor.getStatorCurrent());
      //SmartDashboard.putNumber("Left Front Motor Current Stator", m_leftFrontMotor.getSupplyCurrent());

      //SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
      //SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
      //SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
      //SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
      //SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
      //SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));

      SmartDashboard.putString("Odometry Values Meters", getPose().toString());
      SmartDashboard.putNumber("Odometry Heading", getHeading());

      SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
      //SmartDashboard.putNumber("Delta Time", m_deltaTime);

    } catch (Exception e) {
      System.err.println("Error in the Drive Subsystem");
      // e.printStackTrace(System.err);
    }

    m_odometry.update(Rotation2d.fromDegrees( getHeading()),
                                              inchesToMeters(getDistanceInches(m_leftBackMotor)),
                                              -inchesToMeters(getDistanceInches(m_rightBackMotor)));
  }

  /**
   * Sets Motors to a NeutralMode.
   * 
   * @param mode NeutralMode to set motors to
   */
  public void setDriveTrainNeutralMode(NeutralMode mode) {
    m_leftFrontMotor.setNeutralMode(mode);
    m_rightFrontMotor.setNeutralMode(mode);
    m_leftBackMotor.setNeutralMode(mode);
    m_rightBackMotor.setNeutralMode(mode);
  }

  /**
   * Runs percent output control on the moving and steering of the drive train,
   * using the Differential Drive class to manage the two inputs
   */
  public void driveWithInput(double move, double steer) {
    m_driveTrain.arcadeDrive(move, steer);
    m_leftBackMotor.follow(m_leftFrontMotor);
    m_rightBackMotor.follow(m_rightFrontMotor);
  }

  /**
   * Runs percent output control on the drive train while using an AUX PID for rotation
   * @param targetPos The position to drive to in units
   * @param targetGyro The angle to drive at in units
   */
  public void driveWithInputAux(double move, double targetGyro) {
    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);

    m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, move, DemandType.AuxPID, targetGyro);
    m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
    m_leftBackMotor.follow(m_leftFrontMotor);
    m_rightBackMotor.follow(m_rightFrontMotor);

    m_driveTrain.feedWatchdog();
  }

  /**
   * Runs position PID.
   * Position is absolute and displacement should be handled on the command side.
   * @param targetPos  The position to drive to in units
   * @param targetGyro The angle to drive at in units
   */
  public void runDrivePositionPID(double targetPos, double targetGyro) {
    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);

    m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro);
    m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
    m_leftBackMotor.follow(m_leftFrontMotor);
    m_rightBackMotor.follow(m_rightFrontMotor);

    m_driveTrain.feedWatchdog();
  }

  /**
   * Runs velocity PID
   * 
   * @param targetVel  The velocity to drive at in units
   * @param targetGyro The angle to drive at in units
   */
  public void runDriveVelocityPID(double targetVel, double targetGyro) {
    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);

    m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
    m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
    m_leftBackMotor.follow(m_leftFrontMotor);
    m_rightBackMotor.follow(m_rightFrontMotor);

    m_driveTrain.feedWatchdog();
  }

  /**
   * Runs motion magic PID while driving straight
   * @param targetPos The position to drive to in units
   * @param targetGyro The angle to drive at in units
   */
  public void runMotionMagicPID(double targetPos, double targetGyro) {
    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);

    m_rightFrontMotor.set(ControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
    m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
    m_leftBackMotor.follow(m_leftFrontMotor);
    m_rightBackMotor.follow(m_rightFrontMotor);

    m_driveTrain.feedWatchdog();
  }

  /**
   * Runs a Turning PID to rotate a to a target angle
   * 
   * @param targetAngle target angle in degrees
   */
  public void runTurningPID(double targetAngle) {
    double targetGyro = (targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;

    runDriveVelocityPID(0, targetGyro);
  }

  /**
   * Controls the left and right sides of the drive with velocity targets.
   *
   * @param leftSpeed  the commanded left speed
   * @param rightSpeed the commanded right speed
   */
  public void tankDriveVelocity(double leftSpeed, double rightSpeed) {
    //DifferentialDriveWheelSpeeds wheelSpeeds = new DifferentialDriveWheelSpeeds(leftSpeed, rightSpeed);
    //ChassisSpeeds chassisSpeeds = DriveConstants.kDriveKinematics.toChassisSpeeds(wheelSpeeds);
    //double moveVelMPS = chassisSpeeds.vxMetersPerSecond;
    //double angleVelRad = chassisSpeeds.omegaRadiansPerSecond;
    //double angleVelDeg = Math.toDegrees(angleVelRad);

    //m_kinematicsTargetAngle += angleVelDeg * (m_deltaTime/1000);
    //m_kinematicsTargetAngle = MathUtil.clamp( m_kinematicsTargetAngle, 
    //                                          m_currentAngleYaw-(360),
    //                                          m_currentAngleYaw+(360));
    //double targetGyro = (m_kinematicsTargetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
    double moveVelLeft = inchesToTicks(metersToInches(leftSpeed))/DriveConstants.SECONDS_TO_TICK_TIME;
    double moveVelRight = inchesToTicks(metersToInches(rightSpeed))/DriveConstants.SECONDS_TO_TICK_TIME;

    //SmartDashboard.putNumber("Move Vel Left", moveVelLeft);
    //SmartDashboard.putNumber("Move Vel Right", moveVelRight);

    //runDriveVelocityPID(moveVel*2, targetGyro);

    m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
    m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);

    m_rightBackMotor.set(TalonFXControlMode.Velocity, moveVelRight);
    m_leftBackMotor.set(TalonFXControlMode.Velocity, moveVelLeft);
    m_leftFrontMotor.follow(m_leftFrontMotor);
    m_rightFrontMotor.follow(m_rightFrontMotor);

    m_driveTrain.feedWatchdog();
  }

  /**
   * Selects the feedback device for the motors.
   * @param feedbackDevice The feedback device to set it to, usually SensorDifference or
   */
  public void configMotorSensor(FeedbackDevice type) {
    m_rightFrontMotor.configSelectedFeedbackSensor( type, DriveConstants.PID_PRIMARY,
                                                    DriveConstants.DRIVE_TIMEOUT_MS);
  }

  /**
   * Returns the current yaw of the pigeon
   */
  public double getGyroYaw() {
    double[] ypr = new double[3];

    m_pigeon.getYawPitchRoll(ypr);
    return ypr[0];
  } 

  /**
   * Returns the current pitch of the pigeon
   */
  public double getGyroPitch() {
    double[] ypr = new double[3];

    m_pigeon.getYawPitchRoll(ypr);
    return ypr[1];
  }

  /**
   * Returns the current roll of the pigeon
   */
  public double getGyroRoll() {
    double[] ypr = new double[3];

    m_pigeon.getYawPitchRoll(ypr);
    return ypr[2];
  }

  /**
   * Resets the yaw of the pigeon
   */
  public void resetGyroYaw() {
    m_pigeon.setYaw(0);
    m_pigeon.setAccumZAngle(0);
    resetGyroAngles();
  }

  /**
   * Add docs here
   */
  public void resetGyroAngles() {
    m_lastAngleYaw = 0;
    m_currentAngleYaw = 0;
    m_kinematicsTargetAngle = 0;
  }

  /**
   * Returns the heading of the robot
   * @return The robot's heading in degrees, from -180 to 180
   */
  public double getHeading() {
    return Math.IEEEremainder(getGyroYaw(), 360);
  }

  /**
   * Returns the turn rate of the robot.
   *
   * @return The turn rate of the robot, in degrees per second
   */
  public double getTurnRate() {
    double deltaYaw = m_currentAngleYaw - m_lastAngleYaw;
    double turnRate = 1000 * deltaYaw / m_deltaTime;
    return turnRate;
  }

  /**
   * Returns the currently-estimated pose of the robot.
   * @return The pose.
   */
  public Pose2d getPose() {
    return m_odometry.getPoseMeters();
  }

  /**
   * Returns current wheel speeds of robot.
   * @return The current wheel speeds.
   */
  public DifferentialDriveWheelSpeeds getWheelSpeeds() {
    return new DifferentialDriveWheelSpeeds(  inchesToMeters(getVelocityInchesPerSecond(m_leftBackMotor)), 
                                              -inchesToMeters(getVelocityInchesPerSecond(m_rightBackMotor)));
  }

  /**
   * Resets the encoders for both motors.
   */
  public void resetEncoders() {
    m_leftFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
    m_leftBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
    m_rightBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
  }

  /**
   * Resets the odometry to the specified pose.
   * 
   * @param pose The pose to which to set the odometry.
   */
  public void setOdometry(Pose2d pose) {
    resetEncoders();
    m_odometry.resetPosition(pose, Rotation2d.fromDegrees(getHeading()));
  }

  /**
   * Gets the encoder value (position) of a motor
   * @param falcon The motor to get the position of
   * @return The position of the motor in inches
   */
  public double getDistanceInches(WPI_TalonFX falcon) {
    return ticksToInches(falcon.getSensorCollection().getIntegratedSensorPosition());
  }

  /**
   * Gets the encoder value (velocity) of a motor
   * @param falcon The motor to get the velocity of
   * @return The velocity of the motor in inches per second
   */
  public double getVelocityInchesPerSecond(WPI_TalonFX falcon) {
    return ticksToInches(falcon.getSensorCollection().getIntegratedSensorPosition()/DriveConstants.TICK_TIME_TO_SECONDS);
  }

  /**
   * Converts a value in ticks to inches.
   * @param ticks The value in ticks to convert
   * @return The converted value in inches
   */
  public double  ticksToInches(double ticks) {
    return ticks * DriveConstants.INCHES_PER_TICK;
  }

  /**
   * Converts a value in inches to ticks.
   * @param inches The value in inches to convert
   * @return The converted value in ticks
   */
  public double inchesToTicks(double inches) {
    return inches * DriveConstants.TICKS_PER_INCH;
  }

  /**
   * Converts a value in inches to meters.
   * @param inches The value in inches to convert
   * @return The converted value in meters
   */
  public double inchesToMeters(double inches) {
    return inches * DriveConstants.METERS_PER_INCH;
  }

  /**
   * Converts a value in meters to inches.
   * @param meters The value in meters to convert
   * @return The converted value in inches
   */
  public double metersToInches(double meters) {
    return meters * DriveConstants.INCHES_PER_METER;
  }
  
  /*
   * Set to high or low gear based on boolean state, true = high, false = low
   * @param state Chooses between high or low gear
   */
  public void setShiftState(boolean state) {
    if (state == true) {
			m_speedShift.set(DoubleSolenoid.Value.kForward);
		}
		if (state == false) {
			m_speedShift.set(DoubleSolenoid.Value.kReverse);
		}
  }

  /**
   * Set to open or close solenoid that cools the falcon, true = open, false = close
   * @param state Chooses between open and close
   */
  public void coolFalcon(boolean state) {
    if (state == true) {
      m_coolFalcon.set(DoubleSolenoid.Value.kForward);
    }
    if (state == false) {
      m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
    }
  }

}