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aarav18
2022-03-16 14:49:41 -06:00
parent 39ee9f979d
commit 633a443194
6 changed files with 292 additions and 287 deletions
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src/main/java/frc4388/robot/RobotMap.java
+6 -3
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@@ -8,6 +8,7 @@ package frc4388.robot;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import com.ctre.phoenix.motorcontrol.NeutralMode;
@@ -63,7 +64,7 @@ public class RobotMap {
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_PigeonIMU gyro = new WPI_PigeonIMU(SwerveDriveConstants.GYRO_ID);
public final WPI_Pigeon2 gyro = new WPI_Pigeon2(SwerveDriveConstants.GYRO_ID);
public SwerveModule leftFront;
public SwerveModule leftBack;
@@ -171,8 +172,10 @@ public class RobotMap {
public final WPI_TalonFX elbow = new WPI_TalonFX(ClimberConstants.ELBOW_ID); // TODO
/* Hooks Subsystem */
public final CANSparkMax leftClaw = new CANSparkMax(ClawConstants.LEFT_CLAW_ID, MotorType.kBrushless);
public final CANSparkMax rightClaw = new CANSparkMax(ClawConstants.RIGHT_CLAW_ID, MotorType.kBrushless);
// public final CANSparkMax leftClaw = new CANSparkMax(ClawConstants.LEFT_CLAW_ID, MotorType.kBrushless);
// public final CANSparkMax rightClaw = new CANSparkMax(ClawConstants.RIGHT_CLAW_ID, MotorType.kBrushless);
public final Servo leftClaw = new Servo(1); // TODO: find actual channel
public final Servo rightClaw = new Servo(1); // TODO: find actual channel
// Shooter Config
/* Boom Boom Subsystem */