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Added a fake DriveTrainVariant and a constant to disable the DriveTrain. #6

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Feb 2, 2022
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Added a fake DriveTrainVariant and a constant to disable the DriveTrain. #6

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cb7ed34
Added a fake DriveTrainVariant and a constant to disable the DriveTrain.
glowkate Jan 31, 2022
e3f3345
Moved the initalization of all DriveTrainVarients to DriveTrain
glowkate Feb 2, 2022
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1 change: 1 addition & 0 deletions src/main/java/ca/warp7/frc2022/Constants.java
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Expand Up @@ -24,6 +24,7 @@ public final class Constants {
// Configuration

public static final boolean kEnableSolenoids = true;
public static final boolean kEnableDriveTrain = true;

public static final boolean kDebugCommandScheduler = false;
public static final boolean kUseKinematicsDrive = false;
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9 changes: 8 additions & 1 deletion src/main/java/ca/warp7/frc2022/subsystems/DriveTrain.java
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Expand Up @@ -10,6 +10,8 @@
import ca.warp7.frc2022.lib.LazySolenoid;
import ca.warp7.frc2022.lib.control.PID;
import ca.warp7.frc2022.subsystems.drivetrain.DriveTrainVariant;
import ca.warp7.frc2022.subsystems.drivetrain.LazyDriveTrainVariant;

import com.kauailabs.navx.frc.AHRS;
import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.Timer;
Expand Down Expand Up @@ -39,7 +41,12 @@ public static void setVariant(DriveTrainVariant variant) {
if (driveTrainVariant != null) {
throw new IllegalStateException("Cannot set drive train variant");
}
driveTrainVariant = variant;
if (kEnableDriveTrain){
driveTrainVariant = variant;
}
else{
driveTrainVariant = new LazyDriveTrainVariant();
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Consider pushing this up to the caller, which is this line in robotInit()

    System.out.println("Hello me is robit!");

    DriveTrain.setVariant(new FalconDriveTrainVariant());

    scheduler = CommandScheduler.getInstance();

The problem that I see is that if we don't have the drivetrain hardware then I think the new FalconDriveTrainVariant() will trigger the FalconDriverTrainVariant constructor, which will try to connect to the non-existent motors and gear box solenoids. My guess is that it'll generate a bunch of CAN bus warnings on the console output and it'll work fine, but that's a guess.

Another thought is to just make the driveTrainVariant in the constructor for DriveTrain() and remove the setVariant method completely. driveTrainVariant becomes a non-static member of DriveTrain, but I think that's okay... The only way to create a DriveTrain appears to be DriveTrain's getInstance method; the DriveTrain constructor is private. DriveTrain is a classic singleton.

}
}

private final LazySolenoid shifterSolenoid =
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The LazySolenoid here also needs a be tied into the kEnableDriveTrain

Also, are we missing something like a kEnableDriveTrainShifter constant? i.e., should this be

new LazySolenoid(kDriveShifterID, kEnableSolenoids && kEnableDriveTrain && kEnableDriveTrainShifter);

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95 changes: 95 additions & 0 deletions src/main/java/ca/warp7/frc2022/subsystems/drivetrain/LazyDriveTrainVariant.java
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@@ -0,0 +1,95 @@
package ca.warp7.frc2022.subsystems.drivetrain;

import ca.warp7.frc2022.lib.control.PID;


/*
This class is suppose to be a substitute for an instance of DriveTrainVariant. To the rest of the program,
its a valid DriveTrainVariant, however it does not actually do anything.
*/
public final class LazyDriveTrainVariant implements DriveTrainVariant {
public LazyDriveTrainVariant() {
}

@Override
public void setVelocityPID(
double leftVelocityRotationsPerSecond,
double rightVelocityRotationsPerSecond,
double leftVoltage,
double rightVoltage) {
}

@Override
public void setPositionPID(double leftDistanceRotations, double rightDistanceRotations) {
}

@Override
public void configurePID(PID pid) {
}

@Override
public void configureRampRate(double secondsFromNeutralToFull) {
}

@Override
public void setEncoderPosition(double leftRotations, double rightRotations) {
}

@Override
public void setBrake() {
}

@Override
public void setCoast() {
}

@Override
public double getLeftPositionRotations() {
return (0.0);
}

@Override
public double getRightPositionRotations() {
return (0.0);
}

@Override
public double getLeftVelocityRPS() {
return (0.0);
}

@Override
public double getRightVelocityRPS() {
return (0.0);
}

@Override
public double getLeftVoltage() {
return (0.0);
}

@Override
public double getRightVoltage() {
return (0.0);
}

@Override
public void neutralOutput() {
}

@Override
public void setPercentOutput(double leftPercent, double rightPercent) {
}

@Override
public double getLeftPIDErrorRotations() {
return(0.0);

}

@Override
public double getRightPIDErrorRotations() {
return(0.0);

}
}