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AimToCenter finished

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This commit is contained in:
Ryan Manley
2022-02-24 19:18:05 -07:00
parent 449a3dc8c4
commit 5f1bed26cd
2 changed files with 28 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -3
View File
@@ -56,7 +56,18 @@ public class RobotContainer {
private final Hood m_robotHood = new Hood();
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_)
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( m_robotMap.leftFrontSteerMotor,
m_robotMap.leftFrontWheelMotor,
m_robotMap.rightFrontSteerMotor,
m_robotMap.rightFrontWheelMotor,
m_robotMap.leftBackSteerMotor,
m_robotMap.leftBackWheelMotor,
m_robotMap.rightBackSteerMotor,
m_robotMap.rightBackWheelMotor,
m_robotMap.leftFrontEncoder,
m_robotMap.rightFrontEncoder,
m_robotMap.leftBackEncoder,
m_robotMap.rightBackEncoder);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -80,8 +91,7 @@ public class RobotContainer {
*/
//Turret default command
m_robotTurret.setDefaultCommand(
new AimToCenter(m_robotTurret, m_drive)
m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive));
// m_robotTurret.setDefaultCommand(
// new RunCommand(() -> m_robotTurret.aimToCenter()));
}
src/main/java/frc4388/robot/RobotMap.java
+15 -1
View File
@@ -4,6 +4,8 @@
package frc4388.robot;
import javax.swing.text.WrappedPlainView;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
@@ -35,7 +37,19 @@ public class RobotMap {
}
/* Swerve Subsystem */
public final WPI_TalonFX leftFrontSteerMotor;
public final WPI_TalonFX leftFrontSteerMotor = null;
public final WPI_TalonFX leftFrontWheelMotor = null;
public final WPI_TalonFX rightFrontSteerMotor = null;
public final WPI_TalonFX rightFrontWheelMotor = null;
public final WPI_TalonFX leftBackSteerMotor = null;
public final WPI_TalonFX leftBackWheelMotor = null;
public final WPI_TalonFX rightBackSteerMotor = null;
public final WPI_TalonFX rightBackWheelMotor = null;
public final CANCoder leftFrontEncoder = null;
public final CANCoder rightFrontEncoder = null;
public final CANCoder leftBackEncoder = null;
public final CANCoder rightBackEncoder = null;
// public final WPI_TalonFX leftFrontSteerMotor = new
// WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
// public final WPI_TalonFX leftFrontWheelMotor = new