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Reorganise Drive Variables

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This commit is contained in:
Keenan D. Buckley
2020-02-25 22:39:18 -07:00
parent 1f1d5ed158
commit f60e4a8bf9
1 changed files with 27 additions and 25 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+27 -25
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@@ -42,51 +42,56 @@ import frc4388.robot.Gains;
* Add your docs here.
*/
public class Drive extends SubsystemBase {
// Put methods for controlling this subsystem
// here. Call these from Commands.
/* Create Motors, Gyros, Solenoids, etc */
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 DoubleSolenoid m_speedShift = new DoubleSolenoid(7,0,1);
public DoubleSolenoid m_coolFalcon = new DoubleSolenoid(7,3,2);
/* Drive objects to manage Drive Train */
public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
public final DifferentialDriveOdometry m_odometry;
public Orchestra m_orchestra = new Orchestra();
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>();
/* Low Gear Gains */
public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
public static Gains m_gainsVelocityLow = DriveConstants.DRIVE_VELOCITY_GAINS_LOW;
public static Gains m_gainsTurningLow = DriveConstants.DRIVE_TURNING_GAINS_LOW;
public static Gains m_gainsMotionMagicLow = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_LOW;
/* High Gear Gains */
public static Gains m_gainsDistanceHigh = DriveConstants.DRIVE_DISTANCE_GAINS_HIGH;
public static Gains m_gainsVelocityHigh = DriveConstants.DRIVE_VELOCITY_GAINS_HIGH;
public static Gains m_gainsTurningHigh = DriveConstants.DRIVE_TURNING_GAINS_HIGH;
public static Gains m_gainsMotionMagicHigh = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_HIGH;
public final DifferentialDriveOdometry m_odometry;
public DoubleSolenoid m_speedShift;
public boolean m_isSpeedShiftHigh;
public DoubleSolenoid m_coolFalcon;
SendableChooser<String> m_songChooser = new SendableChooser<String>();
/* Timey Whimey */
public long m_lastTime;
public long m_deltaTime = 0;
public int m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
public long m_lastTime, m_deltaTime; //in milliseconds
public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle;
/* Position Tracking */
public double m_rightFrontMotorPos = 0;
public double m_rightFrontMotorVel = 0;
public double m_totalLeftDistanceInches = 0;
public double m_totalRightDistanceInches = 0;
public double m_lastLeftPosTicks = 0;
public double m_lastRightPosTicks = 0;
public double m_lastAngleYaw = 0;
public double m_currentAngleYaw = 0;
public double m_kinematicsTargetAngle = 0;
/* Smart Dashboard Objects */
SendableChooser<String> m_songChooser = new SendableChooser<String>();
/* Misc */
public boolean m_isSpeedShiftHigh;
/**
* Add your docs here.
@@ -101,10 +106,7 @@ public class Drive extends SubsystemBase {
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);
new Pose2d(0, 0, new Rotation2d()));
coolFalcon(false);