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post-merge fixes, controller stuff left

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This commit is contained in:
aarav18
2022-02-28 19:40:09 -07:00
parent 1573ac385e
commit 815bb64fe6
3 changed files with 5 additions and 19 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -14
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@@ -56,8 +56,11 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap(); private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */ /* Subsystems */
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive( public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); m_robotMap.leftBack,
m_robotMap.rightFront,
m_robotMap.rightBack,
m_robotMap.gyro);
private final TalonFX m_testMotor = new TalonFX(23); private final TalonFX m_testMotor = new TalonFX(23);
@@ -66,18 +69,6 @@ public class RobotContainer {
private final Hood m_robotHood = new Hood(); private final Hood m_robotHood = new Hood();
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom); private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
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 */ /* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
src/main/java/frc4388/robot/subsystems/BoomBoom.java
-3
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@@ -22,15 +22,12 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.CSV; import frc4388.utility.CSV;
import frc4388.utility.Gains; import frc4388.utility.Gains;
import frc4388.utility.controller.IHandController;
public class BoomBoom extends SubsystemBase { public class BoomBoom extends SubsystemBase {
public WPI_TalonFX m_shooterFalconLeft; public WPI_TalonFX m_shooterFalconLeft;
public WPI_TalonFX m_shooterFalconRight; public WPI_TalonFX m_shooterFalconRight;
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static BoomBoom m_boomBoom; public static BoomBoom m_boomBoom;
public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020
// BangBangController m_controller = new BangBangController();
double velP; double velP;
double input; double input;
src/main/java/frc4388/robot/subsystems/Vision.java
-2
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@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.networktables.NetworkTableEntry; import edu.wpi.first.networktables.NetworkTableEntry;
import frc4388.robot.Constants.VisionConstants; import frc4388.robot.Constants.VisionConstants;
import frc4388.utility.controller.IHandController;
public class Vision extends SubsystemBase { public class Vision extends SubsystemBase {
//setup //setup
@@ -19,7 +18,6 @@ public class Vision extends SubsystemBase {
Hood m_hood; Hood m_hood;
NetworkTableEntry xEntry; NetworkTableEntry xEntry;
IHandController m_driverController;
//Aiming //Aiming
double turnAmount = 0; double turnAmount = 0;
double xAngle = 0; double xAngle = 0;