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changed the entire thing

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This commit is contained in:
aarav18
2022-01-24 19:06:28 -07:00
parent ce89188141
commit d1a4a50f87
3 changed files with 57 additions and 47 deletions
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src/main/java/frc4388/robot/RobotMap.java
+11
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@@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule;
/**
* Defines and holds all I/O objects on the Roborio. This is useful for unit
@@ -47,6 +48,11 @@ public class RobotMap {
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 SwerveModule leftFront;
public SwerveModule leftBack;
public SwerveModule rightFront;
public SwerveModule rightBack;
void configureSwerveMotorControllers() {
leftFrontSteerMotor.configFactoryDefault();
@@ -94,6 +100,11 @@ public class RobotMap {
rightBackSteerMotor.setNeutralMode(NeutralMode.Brake);
rightBackWheelMotor.setNeutralMode(NeutralMode.Coast);
leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
rightFront = new SwerveModule(rightFrontWheelMotor, rightFrontSteerMotor, rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
rightBack = new SwerveModule(rightBackWheelMotor, rightBackSteerMotor, rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
// config cancoder as remote encoder for swerve steer motors
//leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
//leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);