mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
Zach Wilke
90 lines
4.4 KiB
Java
90 lines
4.4 KiB
Java
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
package frc4388.robot;
|
|
|
|
import com.ctre.phoenix.motorcontrol.InvertType;
|
|
import com.ctre.phoenix.motorcontrol.NeutralMode;
|
|
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
|
import com.ctre.phoenix.sensors.PigeonIMU;
|
|
import com.ctre.phoenix.sensors.CANCoder;
|
|
|
|
import edu.wpi.first.wpilibj.Spark;
|
|
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
|
|
import frc4388.robot.Constants.ArcadeDriveConstants;
|
|
import frc4388.robot.Constants.LEDConstants;
|
|
import frc4388.robot.Constants.SwerveDriveConstants;
|
|
import frc4388.utility.RobotGyro;
|
|
|
|
/**
|
|
* Defines and holds all I/O objects on the Roborio. This is useful for unit
|
|
* testing and modularization.
|
|
*/
|
|
public class RobotMap {
|
|
|
|
public RobotMap() {
|
|
configureLEDMotorControllers();
|
|
configureArcadeDriveMotorControllers();
|
|
}
|
|
|
|
/* LED Subsystem */
|
|
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
|
|
|
|
void configureLEDMotorControllers() {
|
|
|
|
}
|
|
|
|
/* ArcadeDrive Subsystem */
|
|
public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
|
|
public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
|
|
public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_BACK_CAN_ID);
|
|
public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
|
|
public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
|
|
public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID));
|
|
|
|
void configureArcadeDriveMotorControllers() {
|
|
|
|
/* factory default values */
|
|
leftFrontMotor.configFactoryDefault();
|
|
rightFrontMotor.configFactoryDefault();
|
|
leftBackMotor.configFactoryDefault();
|
|
rightBackMotor.configFactoryDefault();
|
|
|
|
/* set back motors as followers */
|
|
leftBackMotor.follow(leftFrontMotor);
|
|
rightBackMotor.follow(rightFrontMotor);
|
|
|
|
/* set neutral mode */
|
|
leftFrontMotor.setNeutralMode(NeutralMode.Brake);
|
|
rightFrontMotor.setNeutralMode(NeutralMode.Brake);
|
|
leftFrontMotor.setNeutralMode(NeutralMode.Brake);
|
|
rightFrontMotor.setNeutralMode(NeutralMode.Brake);
|
|
|
|
/* flip input so forward becomes back, etc */
|
|
leftFrontMotor.setInverted(false);
|
|
rightFrontMotor.setInverted(false);
|
|
leftBackMotor.setInverted(InvertType.FollowMaster);
|
|
rightBackMotor.setInverted(InvertType.FollowMaster);
|
|
}
|
|
/* Swerve Subsystem */
|
|
public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
|
|
public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
|
|
public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
|
|
public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID);
|
|
public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID);
|
|
public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID);
|
|
public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID);
|
|
public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID);
|
|
public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID);
|
|
public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
|
|
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);
|
|
|
|
void configureSwerveMotorController() {
|
|
}
|
|
}
|