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hook fixes

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This commit is contained in:
Ryan Manley
2022-03-05 14:21:48 -07:00
parent e7358d7eb5
commit 6a639544ae
6 changed files with 114 additions and 103 deletions
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src/main/java/frc4388/robot/RobotMap.java
+12 -12
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@@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.ClimberConstants;
import frc4388.robot.Constants.HooksConstants;
import frc4388.robot.Constants.ClawConstants;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
@@ -27,18 +27,18 @@ import frc4388.robot.Constants.SwerveDriveConstants;
public class RobotMap {
public RobotMap() {
configureLEDMotorControllers();
configureSwerveMotorControllers();
//configureLEDMotorControllers();
//configureSwerveMotorControllers();
}
/* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
void configureLEDMotorControllers() {
/*void configureLEDMotorControllers() {
}
}*/
/* Swerve Subsystem */
/* 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);
@@ -99,14 +99,14 @@ public class RobotMap {
//leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
//rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
//rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
}
}/*
/* Climb Subsystem */
public final WPI_TalonFX shoulder = new WPI_TalonFX(ClimberConstants.SHOULDER_ID); // TODO
/*public final WPI_TalonFX shoulder = new WPI_TalonFX(ClimberConstants.SHOULDER_ID); // TODO
public final WPI_TalonFX elbow = new WPI_TalonFX(ClimberConstants.ELBOW_ID); // TODO
public final WPI_PigeonIMU gyro = null;//new WPI_PigeonIMU(ClimberConstants.GYRO_ID); // TODO
public final WPI_PigeonIMU gyro = null;//new WPI_PigeonIMU(ClimberConstants.GYRO_ID); // TODO*/
/* Hooks Subsystem */
public final CANSparkMax leftHook = new CANSparkMax(HooksConstants.LEFT_HOOK_ID, MotorType.kBrushless);
public final CANSparkMax rightHook = new CANSparkMax(HooksConstants.RIGHT_HOOK_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);
}