Initial commit

src/main/java/frc4388/robot/subsystems/DiffDrive.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 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.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.utility.RobotGyro;
+import frc4388.utility.RobotTime;
+
+/**
+ * Add your docs here.
+ */
+public class DiffDrive extends SubsystemBase {
+  // Put methods for controlling this subsystem
+  // here. Call these from Commands.
+
+  private RobotTime m_robotTime = RobotTime.getInstance();
+
+  private WPI_TalonFX m_leftFrontMotor;
+  private WPI_TalonFX m_rightFrontMotor;
+  private WPI_TalonFX m_leftBackMotor;
+  private WPI_TalonFX m_rightBackMotor;
+  private DifferentialDrive m_driveTrain;
+  private RobotGyro m_gyro;
+
+  /**
+   * Add your docs here.
+   */
+  public DiffDrive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
+      WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
+
+    m_leftFrontMotor = leftFrontMotor;
+    m_rightFrontMotor = rightFrontMotor;
+    m_leftBackMotor = leftBackMotor;
+    m_rightBackMotor = rightBackMotor;
+    m_driveTrain = driveTrain;
+    m_gyro = gyro;
+  }
+
+  @Override
+  public void periodic() {
+    m_gyro.updatePigeonDeltas();
+
+    if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
+      updateSmartDashboard();
+    }
+  }
+
+  /**
+   * Add your docs here.
+   */
+  public void driveWithInput(double move, double steer) {
+    m_driveTrain.arcadeDrive(move, steer);
+  }
+
+  /**
+   * Add your docs here.
+   */
+  public void tankDriveWithInput(double leftMove, double rightMove) {
+    m_leftFrontMotor.set(leftMove);
+    m_rightFrontMotor.set(rightMove);
+  }
+
+  /**
+   * Add your docs here.
+   */
+  private void updateSmartDashboard() {
+
+    // Examples of the functionality of RobotGyro
+    SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
+    SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
+    SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
+    SmartDashboard.putData(m_gyro);
+  }
+}

src/main/java/frc4388/robot/subsystems/LED.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 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.subsystems;
+
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc4388.robot.Constants.LEDConstants;
+import frc4388.utility.LEDPatterns;
+
+/**
+ * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
+ * Driver
+ */
+public class LED extends SubsystemBase {
+
+  private LEDPatterns m_currentPattern;
+  private Spark m_LEDController;
+
+  /**
+   * Add your docs here.
+   */
+  public LED(Spark LEDController){
+    m_LEDController = LEDController;
+    setPattern(LEDConstants.DEFAULT_PATTERN);
+    updateLED();
+    System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
+  }
+
+  @Override
+  public void periodic(){
+    SmartDashboard.putNumber("LED", m_currentPattern.getValue());
+  }
+
+  /**
+   * Add your docs here.
+   */
+  public void updateLED(){
+    m_LEDController.set(m_currentPattern.getValue());
+  }
+
+  /**
+   * Add your docs here.
+   */
+  public void setPattern(LEDPatterns pattern){
+    m_currentPattern = pattern;
+    m_LEDController.set(m_currentPattern.getValue());
+  }
+
+  /**
+   * Add your docs here.
+   * @return
+   */
+  public LEDPatterns getPattern() {
+    return m_currentPattern;
+  }
+}