mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
aarav18
100 lines
7.0 KiB
Java
100 lines
7.0 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
package frc4388.robot;
|
|
|
|
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
|
import com.ctre.phoenix.sensors.CANCoder;
|
|
import com.revrobotics.CANSparkMax;
|
|
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
|
|
|
|
import edu.wpi.first.wpilibj.motorcontrol.Spark;
|
|
import frc4388.robot.Constants.LEDConstants;
|
|
import frc4388.robot.Constants.SwerveDriveConstants;
|
|
|
|
/**
|
|
* Defines and holds all I/O objects on the Roborio. This is useful for unit
|
|
* testing and modularization.
|
|
*/
|
|
public class RobotMap {
|
|
|
|
public RobotMap() {
|
|
configureLEDMotorControllers();
|
|
configureSwerveMotorControllers();
|
|
}
|
|
|
|
/* LED Subsystem */
|
|
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
|
|
|
|
void configureLEDMotorControllers() {
|
|
|
|
}
|
|
|
|
/* 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 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();
|
|
// rightFrontSteerMotor.configFactoryDefault();
|
|
// rightFrontWheelMotor.configFactoryDefault();
|
|
// leftBackSteerMotor.configFactoryDefault();
|
|
// leftBackWheelMotor.configFactoryDefault();
|
|
// rightBackSteerMotor.configFactoryDefault();
|
|
// rightBackWheelMotor.configFactoryDefault();
|
|
|
|
// leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
|
|
// leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
|
|
// leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
// rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
|
|
// 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);
|
|
//rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
//rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
|
}
|
|
|
|
public final CANSparkMax testMotor = new CANSparkMax(6, MotorType.kBrushless);
|
|
|
|
}
|