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Added button controls

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aarav18
2022-03-03 19:52:05 -07:00
parent 68e96527b7
commit 4c8ca92058
3 changed files with 93 additions and 88 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+26 -26
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@@ -62,33 +62,33 @@ public class SwerveDrive extends SubsystemBase {
public RobotGyro gyro; //TODO Add Gyro Lol
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, CANCoder leftFrontEncoder,
CANCoder rightFrontEncoder,
CANCoder leftBackEncoder,
CANCoder rightBackEncoder)
{
m_leftFrontSteerMotor = leftFrontSteerMotor;
m_leftFrontWheelMotor = leftFrontWheelMotor;
m_rightFrontSteerMotor = rightFrontSteerMotor;
m_rightFrontWheelMotor = rightFrontWheelMotor;
m_leftBackSteerMotor = leftBackSteerMotor;
m_leftBackWheelMotor = leftBackWheelMotor;
m_rightBackSteerMotor = rightBackSteerMotor;
m_rightBackWheelMotor = rightBackWheelMotor;
m_leftFrontEncoder = leftFrontEncoder;
m_rightFrontEncoder = rightFrontEncoder;
m_leftBackEncoder = leftBackEncoder;
m_rightBackEncoder = rightBackEncoder;
// 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, CANCoder leftFrontEncoder,
// CANCoder rightFrontEncoder,
// CANCoder leftBackEncoder,
// CANCoder rightBackEncoder)
// {
// m_leftFrontSteerMotor = leftFrontSteerMotor;
// m_leftFrontWheelMotor = leftFrontWheelMotor;
// m_rightFrontSteerMotor = rightFrontSteerMotor;
// m_rightFrontWheelMotor = rightFrontWheelMotor;
// m_leftBackSteerMotor = leftBackSteerMotor;
// m_leftBackWheelMotor = leftBackWheelMotor;
// m_rightBackSteerMotor = rightBackSteerMotor;
// m_rightBackWheelMotor = rightBackWheelMotor;
// m_leftFrontEncoder = leftFrontEncoder;
// m_rightFrontEncoder = rightFrontEncoder;
// m_leftBackEncoder = leftBackEncoder;
// m_rightBackEncoder = rightBackEncoder;
modules = new SwerveModule[] {
new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET), // Front Left
new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET), // Front Right
new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET), // Back Left
new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET) // Back Right
};
//gyro.reset();
}
// modules = new SwerveModule[] {
// new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET), // Front Left
// new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET), // Front Right
// new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET), // Back Left
// new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET) // Back Right
// };
// //gyro.reset();
// }
//https://github.com/ZachOrr/MK3-Swerve-Example
/**
* Method to drive the robot using joystick info.