Team4388/2023WayOfTheRobot
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Ryan
2023-01-14 14:36:38 -07:00
parent 3066038f96
commit becd795383
2 changed files with 2 additions and 5 deletions
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src/main/java/frc4388/robot/RobotMap.java
-3
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@@ -38,13 +38,10 @@ public class RobotMap {
public SwerveModule leftBack; public SwerveModule leftBack;
public SwerveModule rightBack; public SwerveModule rightBack;
public WPI_Pigeon2 gyro;
public RobotMap() { public RobotMap() {
configureLEDMotorControllers(); configureLEDMotorControllers();
configureDriveMotors(); configureDriveMotors();
gyro = new WPI_Pigeon2(GyroConstants.ID);
} }
/* LED Subsystem */ /* LED Subsystem */
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+2 -2
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@@ -33,10 +33,10 @@ public class SwerveDrive extends SubsystemBase {
private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation); private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation);
private WPI_Pigeon2 gyro; private RobotGyro gyro;
/** Creates a new SwerveDrive. */ /** Creates a new SwerveDrive. */
public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, WPI_Pigeon2 gyro) { public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
this.leftFront = leftFront; this.leftFront = leftFront;
this.rightFront = rightFront; this.rightFront = rightFront;
this.leftBack = leftBack; this.leftBack = leftBack;