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Merge branch 'swerve' into Shooter

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This commit is contained in:
Aarav Shah
2022-02-28 19:25:07 -07:00
committed by GitHub
parent af8e727381 234586b6d5
commit ee1fb1360e
53 changed files with 115573 additions and 536 deletions
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src/main/java/frc4388/robot/RobotMap.java
+25 -4
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@@ -10,6 +10,8 @@ import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
@@ -18,6 +20,7 @@ import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.ShooterConstants;
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
@@ -53,11 +56,14 @@ public class RobotMap {
public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
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() {
leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
leftFrontSteerMotor.configFactoryDefault();
leftFrontWheelMotor.configFactoryDefault();
@@ -95,6 +101,21 @@ public class RobotMap {
rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
NeutralMode mode = NeutralMode.Coast;
leftFrontSteerMotor.setNeutralMode(mode);
leftFrontWheelMotor.setNeutralMode(mode);//Coast
rightFrontSteerMotor.setNeutralMode(mode);
rightFrontWheelMotor.setNeutralMode(mode);//Coast
leftBackSteerMotor.setNeutralMode(mode);
leftBackWheelMotor.setNeutralMode(mode);//Coast
rightBackSteerMotor.setNeutralMode(mode);
rightBackWheelMotor.setNeutralMode(mode);//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,