Package com.alumiboti5590.eop.subsystems.drivetrain.tank

Class TankDrive

  • All Implemented Interfaces:
    edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
    Direct Known Subclasses:
    SparkMaxBrushlessTankDrive, TalonSRXBrushedTankDrive
    public abstract class TankDrive
extends edu.wpi.first.wpilibj2.command.SubsystemBase
    TankDrive abstracts out the control methods needed for a Tank Drive chassis subsystem, where each side of the robot acts as it's own system, similar to a tank - hence the name. For the most part, this class just wraps the DifferentialDrive and a few other pieces nicely. You will have to use one of the more concrete implementations to configure the motors and other components correctly.

    • Nested Class Summary

      Nested Classes 
      Modifier and Type Class Description
      static class  TankDrive.TeleopDriveType
      TeleopDriveType is an enumeration that allows for selecting the drive type during the tele-operated period for a tank drive chassis.

    • Constructor Summary

      Constructors 
      Constructor Description
      TankDrive()  

    • Method Summary

      All Methods Instance Methods Abstract Methods Concrete Methods 
      Modifier and Type Method Description
      protected void configureDifferentialDrive​(edu.wpi.first.wpilibj.motorcontrol.MotorController leftLeader, edu.wpi.first.wpilibj.motorcontrol.MotorController rightLeader)  
      void curvatureDrive​(double xSpeed, double zRotation, boolean allowTurnInPlace, boolean squareInputs)
      Given a movement speed and a rotational speed, move the robot.
      edu.wpi.first.wpilibj.smartdashboard.SendableChooser<TankDrive.TeleopDriveType> getTeleopDriveTypeSendableChooser()
      Returns the SendableChooser needed to pick the desired drive type from the SmartDashboard / Shuffleboard
      abstract void resetOdometry()
      Reset the encoders and gyroscope readings.
      abstract void setAccelerationRampRate​(double maxAccRate)
      Sets the ramp rate for open loop control modes.
      abstract void setCurrentLimit​(int currentInAmps)
      Sets the current limit in Amps.
      TankDrive setCurvatureQuickTurnSupplier​(java.util.function.BooleanSupplier quickTurnSupplier)
      Set if the robot should be allowed to 'quick turn' in curvature mode
      TankDrive setCurvatureSpeedSupplier​(java.util.function.DoubleSupplier speedProvider)
      Set the speed supplier for curvature drive mode
      TankDrive setCurvatureSteeringSupplier​(java.util.function.DoubleSupplier steeringProvider)
      Set the rotation supplier for curvature drive mode
      TankDrive setInvertCurvatureSteering​(boolean invertSteeringInput)
      Sets if the curvature steering input should be inverted
      abstract void setSidePIDGains​(PIDGains gains)
      Set the PID controller gains for both sides of the tank drive.
      TankDrive setSquareTeleopInputs​(boolean squareTeleopInputs)
      If configured - which it is by default - then the speed inputs will be squared meaning less sensitivity at lower levels.
      TankDrive setTankDriveLeftSpeedSupplier​(java.util.function.DoubleSupplier speedProvider)
      Set the speed supplier for the left-side of the tank drive control
      TankDrive setTankDriveRightSpeedSupplier​(java.util.function.DoubleSupplier speedProvider)
      Set the speed supplier for the right-side of the tank drive control
      TankDrive setTeleopDriveType​(TankDrive.TeleopDriveType driveType)
      Set the drive type to use in Tele-operated mode by the driver
      void stop()
      Stops both sides of the tank drive when called.
      void tankDrive​(double leftSpeed, double rightSpeed, boolean squareInputs)
      Given a speed for the left and right side, respectively, set the motor speeds as given.
      void teleopOpenDrive()
      The main method to control the drivetrain during teleop.

      • Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

        addChild, getName, getSubsystem, initSendable, setName, setSubsystem

      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

      • Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

        getCurrentCommand, getDefaultCommand, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd

    • Field Detail

      • DEFAULT_TELEOP_DRIVE_TYPE

        public static final TankDrive.TeleopDriveType DEFAULT_TELEOP_DRIVE_TYPE
        The default drive type to use if one is not selected in the SmartDashboard

    • Constructor Detail

      • TankDrive

        public TankDrive()

    • Method Detail

      • setCurvatureSpeedSupplier

        public TankDrive setCurvatureSpeedSupplier​(java.util.function.DoubleSupplier speedProvider)
        Set the speed supplier for curvature drive mode
        Parameters:
        speedProvider - a supplier that is used to control the speed in curvature mode
        Returns:
        The TankDrive instance to be a part of a call chain

      • setCurvatureSteeringSupplier

        public TankDrive setCurvatureSteeringSupplier​(java.util.function.DoubleSupplier steeringProvider)
        Set the rotation supplier for curvature drive mode
        Parameters:
        steeringProvider - a supplier that is used to control the rotation in curvature mode
        Returns:
        The TankDrive instance to be a part of a call chain

      • setCurvatureQuickTurnSupplier

        public TankDrive setCurvatureQuickTurnSupplier​(java.util.function.BooleanSupplier quickTurnSupplier)
        Set if the robot should be allowed to 'quick turn' in curvature mode
        Parameters:
        quickTurnSupplier - a supplier that is used to control 'quick turn' toggling in curvature mode
        Returns:
        The TankDrive instance to be a part of a call chain

      • setTankDriveLeftSpeedSupplier

        public TankDrive setTankDriveLeftSpeedSupplier​(java.util.function.DoubleSupplier speedProvider)
        Set the speed supplier for the left-side of the tank drive control
        Parameters:
        speedProvider - a supplier that is used for driving the left-side in tank drive
        Returns:
        The TankDrive instance to be a part of a call chain

      • setTankDriveRightSpeedSupplier

        public TankDrive setTankDriveRightSpeedSupplier​(java.util.function.DoubleSupplier speedProvider)
        Set the speed supplier for the right-side of the tank drive control
        Parameters:
        speedProvider - a supplier that is used for driving the right-side in tank drive
        Returns:
        The TankDrive instance to be a part of a call chain

      • setInvertCurvatureSteering

        public TankDrive setInvertCurvatureSteering​(boolean invertSteeringInput)
        Sets if the curvature steering input should be inverted
        Parameters:
        invertSteeringInput - If the curvature steering input should be inverted
        Returns:
        The TankDrive instance to be a part of a call chain

      • setSquareTeleopInputs

        public TankDrive setSquareTeleopInputs​(boolean squareTeleopInputs)
        If configured - which it is by default - then the speed inputs will be squared meaning less sensitivity at lower levels.
        Parameters:
        squareTeleopInputs - If the speed inputs should be squared
        Returns:
        The TankDrive instance to be a part of a call chain

      • setTeleopDriveType

        public TankDrive setTeleopDriveType​(TankDrive.TeleopDriveType driveType)
        Set the drive type to use in Tele-operated mode by the driver
        Parameters:
        driveType - The drive type to use
        Returns:
        The TankDrive instance to be a part of a call chain

      • getTeleopDriveTypeSendableChooser

        public edu.wpi.first.wpilibj.smartdashboard.SendableChooser<TankDrive.TeleopDriveType> getTeleopDriveTypeSendableChooser()
        Returns the SendableChooser needed to pick the desired drive type from the SmartDashboard / Shuffleboard
        Returns:
        The SendableChooser that can be sent to the SmartDashboard

      • setAccelerationRampRate

        public abstract void setAccelerationRampRate​(double maxAccRate)
        Sets the ramp rate for open loop control modes.

        This is the maximum rate at which the motor controller's output is allowed to change.

        Parameters:
        maxAccRate - Time in seconds to go from 0 to full throttle.

      • setCurrentLimit

        public abstract void setCurrentLimit​(int currentInAmps)
        Sets the current limit in Amps.

        The motor controller will reduce the controller voltage output to avoid surpassing this limit. This limit is enabled by default and used for brushless only. This limit is highly recommended when brushless motors, but it also helps to avoid brownouts in any situation.

        Parameters:
        currentInAmps - The current limit in Amps.

      • setSidePIDGains

        public abstract void setSidePIDGains​(PIDGains gains)
        Set the PID controller gains for both sides of the tank drive. Note that the actual effect will be determined by the motors used (Neos + Spark Max's have a lot more control because of their built-in encoder) but it tries to be fairly equal enough for a drivetrain to work.
        Parameters:
        gains - desired PID gains

      • teleopOpenDrive

        public void teleopOpenDrive()
        The main method to control the drivetrain during teleop. It controls the chassis based on the current teleopDriveType and it requires the correct suppliers to be defined to fetch controller values.

      • curvatureDrive

        public void curvatureDrive​(double xSpeed,
                           double zRotation,
                           boolean allowTurnInPlace,
                           boolean squareInputs)
        Given a movement speed and a rotational speed, move the robot. The rotation argument controls the curvature of the robot's path rather than its rate of heading change. This makes the robot more controllable at high speeds.
        Parameters:
        xSpeed - The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
        zRotation - The normalized curvature [-1.0..1.0]. Counterclockwise is positive.
        allowTurnInPlace - If set, overrides constant-curvature turning for turn-in-place maneuvers. zRotation will control turning rate instead of curvature.
        squareInputs - If set, decreases the input sensitivity at low speeds.

      • tankDrive

        public void tankDrive​(double leftSpeed,
                      double rightSpeed,
                      boolean squareInputs)
        Given a speed for the left and right side, respectively, set the motor speeds as given. This is the more difficult control mode for a drivetrain.
        Parameters:
        leftSpeed - The robot left side's speed along the X axis [-1.0..1.0]. Forward is positive.
        rightSpeed - The robot right side's speed along the X axis [-1.0..1.0]. Forward is positive.
        squareInputs - If set, decreases the input sensitivity at low speeds.

      • stop

        public void stop()
        Stops both sides of the tank drive when called.

      • resetOdometry

        public abstract void resetOdometry()
        Reset the encoders and gyroscope readings.

      • configureDifferentialDrive

        protected void configureDifferentialDrive​(edu.wpi.first.wpilibj.motorcontrol.MotorController leftLeader,
                                          edu.wpi.first.wpilibj.motorcontrol.MotorController rightLeader)