Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

hood change

Browse Source
This commit is contained in:
aarav18
2022-03-06 00:24:47 -07:00
parent 317c0f5219
commit c26fa62747
3 changed files with 17 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotMap.java
+11 -5
View File
@@ -13,6 +13,7 @@ import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
@@ -32,17 +33,15 @@ import frc4388.robot.subsystems.SwerveModule;
public class RobotMap {
public RobotMap() {
// configureLEDMotorControllers();
configureLEDMotorControllers();
configureSwerveMotorControllers();
// configureShooterMotorControllers();
configureShooterMotorControllers();
}
/* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
void configureLEDMotorControllers() {
}
void configureLEDMotorControllers() {}
/* Swerve Subsystem */
@@ -167,8 +166,12 @@ public class RobotMap {
public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
// turret subsystem
public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
// hood subsystem
public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
// Create motor CANSparkMax
void configureShooterMotorControllers() {
@@ -209,6 +212,9 @@ public class RobotMap {
// SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
// numbers out of our ass anymore
// hood subsystem
angleAdjusterMotor.restoreFactoryDefaults();
angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
}