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motors/motor ids

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This commit is contained in:
Abhishrek05
2021-11-29 17:18:31 -07:00
parent a3d2b5f029
commit 1f51cc41cc
3 changed files with 39 additions and 3 deletions
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src/main/java/frc4388/robot/Constants.java
+8 -1
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@@ -33,8 +33,15 @@ public final class Constants {
public static final double ROTATION_SPEED = 0.1; public static final double ROTATION_SPEED = 0.1;
public static final double WIDTH = 0; public static final double WIDTH = 0;
public static final double HEIGHT = 0; public static final double HEIGHT = 0;
public static final int LEFT_FRONT_STEER_CAN_ID = 0;
public static final int LEFT_FRONT_WHEEL_CAN_ID = 0;
public static final int RIGHT_FRONT_STEER_CAN_ID = 0;
public static final int RIGHT_FRONT_WHEEL_CAN_ID = 0;
public static final int LEFT_BACK_STEER_CAN_ID = 0;
public static final int LEFT_BACK_WHEEL_CAN_ID = 0;
public static final int RIGHT_BACK_STEER_CAN_ID = 0;
public static final int RIGHT_BACK_WHEEL_CAN_ID = 0;
} }
public static final class LEDConstants { public static final class LEDConstants {
public static final int LED_SPARK_ID = 0; public static final int LED_SPARK_ID = 0;
src/main/java/frc4388/robot/RobotMap.java
+10
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@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.Constants.ArcadeDriveConstants; import frc4388.robot.Constants.ArcadeDriveConstants;
import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.RobotGyro; import frc4388.utility.RobotGyro;
/** /**
@@ -68,4 +69,13 @@ public class RobotMap {
leftBackMotor.setInverted(InvertType.FollowMaster); leftBackMotor.setInverted(InvertType.FollowMaster);
rightBackMotor.setInverted(InvertType.FollowMaster); rightBackMotor.setInverted(InvertType.FollowMaster);
} }
/* 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);
} }
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+21 -2
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@@ -7,6 +7,8 @@
package frc4388.robot.subsystems; package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.geometry.Rotation2d; import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d; import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
@@ -17,9 +19,25 @@ import frc4388.robot.Constants.SwerveDriveConstants;
public class SwerveDrive public class SwerveDrive
{ {
SwerveDriveKinematics m_kinematics; SwerveDriveKinematics m_kinematics;
private WPI_TalonFX m_leftFrontSteerMotor;
public SwerveDrive() private WPI_TalonFX m_leftFrontWheelMotor;
private WPI_TalonFX m_rightFrontSteerMotor;
private WPI_TalonFX m_rightFrontWheelMotor;
private WPI_TalonFX m_leftBackSteerMotor;
private WPI_TalonFX m_leftBackWheelMotor;
private WPI_TalonFX m_rightBackSteerMotor;
private WPI_TalonFX m_rightBackWheelMotor;
public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor,
WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor)
{ {
m_leftFrontSteerMotor = leftFrontSteerMotor;
m_leftFrontWheelMotor = leftFrontWheelMotor;
m_rightFrontSteerMotor = rightFrontSteerMotor;
m_rightFrontWheelMotor = rightFrontWheelMotor;
m_leftBackSteerMotor = leftBackSteerMotor;
m_leftBackWheelMotor = leftBackWheelMotor;
m_rightBackSteerMotor = rightBackSteerMotor;
m_rightBackWheelMotor = rightBackWheelMotor;
double halfWidth = SwerveDriveConstants.WIDTH / 2.d; double halfWidth = SwerveDriveConstants.WIDTH / 2.d;
double halfHeight = SwerveDriveConstants.HEIGHT / 2.d; double halfHeight = SwerveDriveConstants.HEIGHT / 2.d;
@@ -49,6 +67,7 @@ public class SwerveDrive
// Back right module state // Back right module state
SwerveModuleState backRight = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(/*get encoder positions*/)); SwerveModuleState backRight = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(/*get encoder positions*/));
} }
// public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate) // public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)