Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'full-robot-test' into Climber

Browse Source
This commit is contained in:
Aarav Shah
2022-03-06 00:37:22 -07:00
committed by GitHub
parent 42bfaa7027 74fa148c08
commit 0b75f5793f
13 changed files with 584 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotMap.java
+11 -4
View File
@@ -16,6 +16,7 @@ import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.CAN;
import edu.wpi.first.wpilibj.DigitalInput;
@@ -38,16 +39,15 @@ import frc4388.robot.subsystems.SwerveModule;
public class RobotMap {
public RobotMap() {
// configureLEDMotorControllers();
configureLEDMotorControllers();
configureSwerveMotorControllers();
configureShooterMotorControllers();
}
/* LED Subsystem */
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
void configureLEDMotorControllers() {
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);
@@ -179,8 +179,12 @@ public class RobotMap {
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);
// turret subsystem
public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
// hood subsystem
public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
// Create motor CANSparkMax
void configureShooterMotorControllers() {
@@ -221,6 +225,9 @@ public class RobotMap {
// SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
// numbers out of our ass anymore
// hood subsystem
angleAdjusterMotor.restoreFactoryDefaults();
angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
}