Team4388/2023WayOfTheRobot
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finished RobotMap, started RobotContainer work

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aarav18
2023-01-14 13:20:04 -07:00
parent a7a366a9b2
commit b1f0799f7e
4 changed files with 86 additions and 61 deletions
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src/main/java/frc4388/robot/RobotMap.java
+18
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@@ -12,11 +12,14 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
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.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule;
import frc4388.utility.RobotGyro;
/**
@@ -25,9 +28,18 @@ import frc4388.utility.RobotGyro;
*/
public class RobotMap {
public SwerveModule leftFront;
public SwerveModule rightFront;
public SwerveModule leftBack;
public SwerveModule rightBack;
public WPI_Pigeon2 gyro;
public RobotMap() {
configureLEDMotorControllers();
configureDriveMotors();
gyro = new WPI_Pigeon2(GyroConstants.ID);
}
/* LED Subsystem */
@@ -114,5 +126,11 @@ public class RobotMap {
leftBackEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
rightBackEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
// 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);
}
}