Team4388/2023WayOfTheRobot
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Merge branch 'master' into arm

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This commit is contained in:
Aarav Shah
2023-03-01 16:50:50 -07:00
committed by GitHub
parent 3cdf5e65fe 29bfb74c8a
commit 090dce7c10
28 changed files with 1596 additions and 226 deletions
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src/main/java/frc4388/robot/RobotMap.java
+12 -13
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@@ -9,10 +9,10 @@ package frc4388.robot;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.ArmConstants;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
@@ -40,7 +40,7 @@ public class RobotMap {
}
/* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
void configureLEDMotorControllers() {
@@ -115,19 +115,18 @@ public class RobotMap {
rightBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
rightBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
// config magnet offset
leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.LEFT_FRONT_ENCODER_OFFSET);
rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.RIGHT_FRONT_ENCODER_OFFSET);
leftBackEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
rightBackEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
// set neutral mode
leftFrontSteer.setNeutralMode(NeutralMode.Brake);
rightFrontSteer.setNeutralMode(NeutralMode.Brake);
leftBackSteer.setNeutralMode(NeutralMode.Brake);
rightBackSteer.setNeutralMode(NeutralMode.Brake);
// initialize SwerveModules
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.Configurations.LEFT_FRONT_ENCODER_OFFSET);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.Configurations.RIGHT_FRONT_ENCODER_OFFSET);
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, -181.230469);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, -270.615234);
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, -240.029297);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, -40.869142);
}
// arm stuff