From 096019bee501e445ca193fbcdd19cbf0d6fa6d8f Mon Sep 17 00:00:00 2001 From: aarav18 Date: Tue, 5 Apr 2022 23:49:09 -0600 Subject: [PATCH] separate can for drive train --- src/main/java/frc4388/robot/Constants.java | 1 + src/main/java/frc4388/robot/RobotMap.java | 24 +++++++++++----------- 2 files changed, 13 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 2266b68..6a940e1 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -35,6 +35,7 @@ import frc4388.utility.LEDPatterns; public final class Constants { public static final double TICKS_PER_ROTATION_FX = 2048; public static final double LOOP_TIME = 0.02; + public static final String DRIVE_CAN_NAME = "driveTrain"; public static final class SwerveDriveConstants { public static final double ROTATION_SPEED = 2.3; diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 32c387a..b76ab82 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -59,18 +59,18 @@ public class RobotMap { /* 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_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID, Constants.DRIVE_CAN_NAME); +public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID, Constants.DRIVE_CAN_NAME); +public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID, Constants.DRIVE_CAN_NAME); +public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID, Constants.DRIVE_CAN_NAME); +public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID, Constants.DRIVE_CAN_NAME); +public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID, Constants.DRIVE_CAN_NAME); +public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID, Constants.DRIVE_CAN_NAME); +public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID, Constants.DRIVE_CAN_NAME); +public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID, Constants.DRIVE_CAN_NAME); +public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID, Constants.DRIVE_CAN_NAME); +public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID, Constants.DRIVE_CAN_NAME); +public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID, Constants.DRIVE_CAN_NAME); public final WPI_Pigeon2 gyro = new WPI_Pigeon2(SwerveDriveConstants.GYRO_ID);