2022NoWayHome/src/main/java/frc4388/robot/RobotMap.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc4388.robot;

import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;

import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;

import edu.wpi.first.wpilibj.motorcontrol.Spark;

import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule;

/**
 * Defines and holds all I/O objects on the Roborio. This is useful for unit
 * testing and modularization.
 */
public class RobotMap {

  public RobotMap() {
    // configureLEDMotorControllers();
    configureSwerveMotorControllers();
    // configureShooterMotorControllers();
  }

  /* LED Subsystem */
  public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);

  void configureLEDMotorControllers() {

  }

  /* Swerve Subsystem */

  public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
  public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
  public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
  public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID);
  public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID);
  public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID);
  public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID);
  public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID);
  public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID);
  public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
  public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
  public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);

  public final WPI_PigeonIMU gyro = new WPI_PigeonIMU(SwerveDriveConstants.GYRO_ID);

  public SwerveModule leftFront;
  public SwerveModule leftBack;
  public SwerveModule rightFront;
  public SwerveModule rightBack;

  void configureSwerveMotorControllers() {

    leftFrontSteerMotor.configFactoryDefault();
    leftFrontWheelMotor.configFactoryDefault();
    rightFrontSteerMotor.configFactoryDefault();
    rightFrontWheelMotor.configFactoryDefault();
    leftBackSteerMotor.configFactoryDefault();
    leftBackWheelMotor.configFactoryDefault();
    rightBackSteerMotor.configFactoryDefault();
    rightBackWheelMotor.configFactoryDefault();

    leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);

    leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);

    leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);

    NeutralMode mode = NeutralMode.Coast;
    leftFrontSteerMotor.setNeutralMode(mode);
    leftFrontWheelMotor.setNeutralMode(mode);// Coast
    rightFrontSteerMotor.setNeutralMode(mode);
    rightFrontWheelMotor.setNeutralMode(mode);// Coast
    leftBackSteerMotor.setNeutralMode(mode);
    leftBackWheelMotor.setNeutralMode(mode);// Coast
    rightBackSteerMotor.setNeutralMode(mode);
    rightBackWheelMotor.setNeutralMode(mode);// Coast

    leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder,
        SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
    leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder,
        SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
    rightFront = new SwerveModule(rightFrontWheelMotor, rightFrontSteerMotor, rightFrontEncoder,
        SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
    rightBack = new SwerveModule(rightBackWheelMotor, rightBackSteerMotor, rightBackEncoder,
        SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);

    // config cancoder as remote encoder for swerve steer motors
    leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(),
        RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(),
        RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(),
        RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
    rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(),
        RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
  }

  // Shooter Config
  /* Boom Boom Subsystem */
  /*
   * public final WPI_TalonFX shooterFalconLeft = new
   * WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
   * public final WPI_TalonFX shooterFalconRight = new
   * WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
   * 
   * // public final CANSparkMax shooterTurret = new
   * CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
   * 
   * // Create motor CANSparkMax
   * void configureShooterMotorControllers() {
   * 
   * // LEFT FALCON
   * shooterFalconLeft.configFactoryDefault();
   * shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
   * shooterFalconLeft.setInverted(true);
   * shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
   * shooterFalconLeft.configClosedloopRamp(0.75,
   * ShooterConstants.SHOOTER_TIMEOUT_MS);
   * shooterFalconLeft.configPeakOutputReverse(0,
   * ShooterConstants.SHOOTER_TIMEOUT_MS);
   * shooterFalconLeft.setSelectedSensorPosition(0,
   * ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
   * shooterFalconLeft.configClosedLoopPeriod(0,
   * ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS);
   * shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.
   * SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
   * 
   * // RIGHT FALCON
   * shooterFalconRight.setInverted(false);
   * shooterFalconRight.setNeutralMode(NeutralMode.Coast);
   * shooterFalconRight.configFactoryDefault();
   * shooterFalconRight.configOpenloopRamp(1,
   * ShooterConstants.SHOOTER_TIMEOUT_MS);
   * shooterFalconRight.configClosedloopRamp(0.75,
   * ShooterConstants.SHOOTER_TIMEOUT_MS);
   * // m_shooterFalconRight.configPeakOutputForward(0,
   * ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
   * shooterFalconRight.setSelectedSensorPosition(0,
   * ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
   * shooterFalconRight.configClosedLoopPeriod(0,
   * ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS);
   * shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.
   * SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
   * 
   * /* Turret Subsytem
   */
  /*
   * shooterFalconRight.configStatorCurrentLimit(new
   * StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
   * out of our ass anymore
   * shooterFalconLeft.configSupplyCurrentLimit(new
   * SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
   * numbers out of our ass anymore
   */
  // }

}