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ArcadeDrive.java
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ArcadeDrive.java
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package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.CounterBase;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
public class ArcadeDrive {
Joystick speedJoystick;
Joystick steerJoystick;
Jaguar leftMotors;
Jaguar rightMotors;
double currentLeftMotorSpeed;
double currentRightMotorSpeed;
double commandedLeftMotorSpeed;
double commandedRightMotorSpeed;
double turnOverflowAmount;
double turnOverflowScale = 0.6;
Encoder driveEncoder1;
Encoder driveEncoder2;
CounterBase.EncodingType factor;
//constructor
public ArcadeDrive(Joystick throttleJoystick, Joystick turnJoystick){
factor = EncodingType.k1X;
leftMotors = new Jaguar(RobotMap.LeftDriveMotors);
rightMotors = new Jaguar(RobotMap.RightDriveMotors);
speedJoystick = throttleJoystick;
steerJoystick = turnJoystick;
}
private static final double DEADBAND = 0.02;
double scaledValue;
private double correctedValue(double rawValue){
if (rawValue > DEADBAND){
scaledValue = (rawValue - DEADBAND)/(1-DEADBAND);
} else if (rawValue < -DEADBAND){
scaledValue = (rawValue + DEADBAND)/(1-DEADBAND);
} else {
scaledValue = 0;
}
return scaledValue;
}
private static final double SLOWFACTOR = 3;
public void arcadeDrive(){
double speed = speedJoystick.getY();
double turnRate = steerJoystick.getY();
commandedLeftMotorSpeed = speed * (1 + turnRate);
commandedRightMotorSpeed = speed * (1 - turnRate);
if(commandedLeftMotorSpeed > 1) {
turnOverflowAmount = commandedLeftMotorSpeed - 1;
commandedRightMotorSpeed = commandedRightMotorSpeed - (turnOverflowAmount*turnOverflowScale);
} else if(commandedLeftMotorSpeed < -1) {
turnOverflowAmount = commandedLeftMotorSpeed + 1;
commandedRightMotorSpeed = commandedRightMotorSpeed - (turnOverflowAmount*turnOverflowScale);
} else if(commandedRightMotorSpeed > 1) {
turnOverflowAmount = commandedRightMotorSpeed - 1;
commandedLeftMotorSpeed = commandedLeftMotorSpeed - (turnOverflowAmount*turnOverflowScale);
} else if(commandedRightMotorSpeed < -1) {
turnOverflowAmount = commandedRightMotorSpeed + 1;
commandedLeftMotorSpeed = commandedLeftMotorSpeed - (turnOverflowAmount*turnOverflowScale);
}
//if one is positive and one is negative: turning
if (commandedLeftMotorSpeed * commandedRightMotorSpeed < 0) {
if (commandedLeftMotorSpeed * speed < 0) {
commandedLeftMotorSpeed = 0;
} else {
commandedRightMotorSpeed = 0;
}
}
//if one of the sides is moving but other side is standing still
if(speed != 0 && (commandedLeftMotorSpeed == 0 || commandedRightMotorSpeed == 0)) {
//if left side isn't moving
if (commandedLeftMotorSpeed == 0) {
if (speed > 0) {
commandedLeftMotorSpeed = -0.075;
} else {
commandedLeftMotorSpeed = 0.075;
}
} else {
if (speed > 0) {
commandedRightMotorSpeed = 0.075;
} else {
commandedLeftMotorSpeed = 0.075;
}
}
}
if (speedJoystick.getRawButton(RobotMap.LeftDriveJoystick_SlowDrive)){
commandedLeftMotorSpeed /=SLOWFACTOR; //Used when driving over the ramp
commandedRightMotorSpeed /=SLOWFACTOR;
}
if (commandedLeftMotorSpeed > 1) {
commandedLeftMotorSpeed = 1.0;
}
if (commandedLeftMotorSpeed < -1) {
commandedLeftMotorSpeed = -1.0;
}
if (commandedRightMotorSpeed > 1) {
commandedRightMotorSpeed = 1.0;
}
if (commandedRightMotorSpeed < -1) {
commandedRightMotorSpeed = -1.0;
}
leftMotors.set((commandedLeftMotorSpeed));
rightMotors.set((commandedRightMotorSpeed));
}
}