Team4388/2023WayOfTheRobot
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imports hehe

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This commit is contained in:
aarav18
2023-01-15 16:06:05 -07:00
parent cd59b42714
commit 67f26bb504
4 changed files with 2 additions and 17 deletions
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src/main/java/frc4388/robot/RobotMap.java
+2 -9
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@@ -7,17 +7,11 @@
package frc4388.robot; package frc4388.robot;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.WPI_Pigeon2; import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.wpilibj.motorcontrol.Spark; import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.Constants.GyroConstants;
import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule; import frc4388.robot.subsystems.SwerveModule;
@@ -28,10 +22,9 @@ import frc4388.utility.RobotGyro;
* testing and modularization. * testing and modularization.
*/ */
public class RobotMap { public class RobotMap {
private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14); private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14);
public RobotGyro gyro = new RobotGyro(m_pigeon2); public RobotGyro gyro = new RobotGyro(m_pigeon2);
private TalonSRX backleft = new TalonSRX(-1);
public SwerveModule leftFront; public SwerveModule leftFront;
public SwerveModule rightFront; public SwerveModule rightFront;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
-4
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@@ -4,14 +4,10 @@
package frc4388.robot.subsystems; package frc4388.robot.subsystems;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.constraint.SwerveDriveKinematicsConstraint;
import edu.wpi.first.math.util.Units; import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.Constants.SwerveDriveConstants;
src/main/java/frc4388/robot/subsystems/SwerveModule.java
-1
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@@ -7,7 +7,6 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource; import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonFX;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration; import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.CANCoder;
src/main/java/frc4388/utility/RobotGyro.java
-3
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@@ -8,9 +8,6 @@
package frc4388.utility; package frc4388.utility;
import com.ctre.phoenix.sensors.WPI_Pigeon2; import com.ctre.phoenix.sensors.WPI_Pigeon2;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
import com.kauailabs.navx.frc.AHRS; import com.kauailabs.navx.frc.AHRS;
// import edu.wpi.first.wpilibj.GyroBase; // import edu.wpi.first.wpilibj.GyroBase;