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Add Intake to robotmap and constants

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Co-Authored-By: 76842 <90875734+76842@users.noreply.github.com>
This commit is contained in:
Ryan Manley
2022-01-21 19:00:11 -07:00
parent 3b8aca334e
commit 9112c87156
3 changed files with 14 additions and 5 deletions
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src/main/java/frc4388/robot/Constants.java
+8 -4
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@@ -72,11 +72,15 @@ public final class Constants {
public static final double SERIALIZER_SHOOTER_BELT_SPEED = 1.0; // TODO (currently max power, DO NOT RUN)
// CAN IDs
public static final int SERIALIZER_BELT = -1; // TODO
public static final int SERIALIZER_SHOOTER_BELT = -1; // TODO
public static final int SERIALIZER_BELT_BEAM = -1; // TODO
public static final int SERIALIZER_BELT = 1; // TODO
public static final int SERIALIZER_SHOOTER_BELT = 2; // TODO
public static final int SERIALIZER_BELT_BEAM = 3; // TODO
}
public static final class IntakeConstants {
// CAN IDs
public static final int INTAKE_MOTOR = 3;
public static final int EXTENDER_MOTOR = 4;
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -41,7 +41,7 @@ public class RobotContainer {
m_robotMap.rightBackEncoder
);
private final Intake m_robotIntake = new Intake(null, null);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor);
private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, m_robotMap.serializerShooterBelt);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
src/main/java/frc4388/robot/RobotMap.java
+5
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@@ -8,6 +8,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SerializerConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
@@ -97,4 +98,8 @@ public class RobotMap {
public final Spark serializerBelt = new Spark(SerializerConstants.SERIALIZER_BELT);
public final Spark serializerShooterBelt = new Spark(SerializerConstants.SERIALIZER_SHOOTER_BELT);
/* Intake Subsytem */
public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
public final Spark extenderMotor = new Spark(IntakeConstants.EXTENDER_MOTOR);
}