Microbot drives

src/main/java/frc4388/robot/Robot.java

@@ -11,7 +11,12 @@ import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+<<<<<<< Updated upstream
 import frc4388.utility.DeferredBlock;
+=======
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.utility.RobotGyro;
+>>>>>>> Stashed changes
 import frc4388.utility.RobotTime;
 
 /**
@@ -36,8 +41,11 @@ public class Robot extends TimedRobot {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
+<<<<<<< Updated upstream
 
     SmartDashboard.putData("AutoPlayback Chooser", m_robotContainer.chooser);
+=======
+>>>>>>> Stashed changes
   }
 
   /**
@@ -115,14 +123,23 @@ public class Robot extends TimedRobot {
     m_robotContainer.m_robotSwerveDrive.resetGyro();
     m_robotTime.startMatchTime();
 
+<<<<<<< Updated upstream
     m_robotContainer.m_robotMap.restart_motor_tests();
+=======
+>>>>>>> Stashed changes
   }
 
   /**
    * This function is called periodically during operator control.
    */
   @Override
+<<<<<<< Updated upstream
   public void teleopPeriodic() {}
+=======
+  public void teleopPeriodic() {
+
+  }
+>>>>>>> Stashed changes
 
   /**
    * This function is called periodically during test mode.

src/main/java/frc4388/robot/RobotContainer.java

@@ -23,6 +23,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.POVButton;
 import frc4388.robot.Constants.*;
+<<<<<<< Updated upstream
 import frc4388.robot.subsystems.Arm;
 import frc4388.robot.subsystems.Claw;
 import frc4388.robot.subsystems.Limelight;
@@ -37,6 +38,14 @@ import frc4388.robot.commands.Placement.LimeAlign;
 import frc4388.robot.commands.Swerve.RotateToAngle;
 import frc4388.utility.controller.DeadbandedXboxController;
 import frc4388.utility.controller.XboxController; 
+=======
+import frc4388.robot.subsystems.LED;
+import frc4388.robot.subsystems.Microbot;
+import frc4388.utility.LEDPatterns;
+import frc4388.utility.RobotGyro;
+import frc4388.utility.controller.IHandController;
+import frc4388.utility.controller.XboxController;
+>>>>>>> Stashed changes
 
 /**
  * This class is where the bulk of the robot should be declared. Since
@@ -50,6 +59,7 @@ public class RobotContainer {
     public final RobotMap m_robotMap = new RobotMap();
 
     /* Subsystems */
+<<<<<<< Updated upstream
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
                                                                   m_robotMap.rightFront,
                                                                   m_robotMap.leftBack,
@@ -61,6 +71,10 @@ public class RobotContainer {
     public final Claw m_robotClaw = new Claw(m_robotMap.leftClaw, m_robotMap.rightClaw, m_robotMap.spinnyspin);
 
     public final Limelight m_robotLimeLight = new Limelight();
+=======
+    private final LED m_robotLED = new LED(m_robotMap.LEDController);
+    private final Microbot microbot = new Microbot(m_robotMap.frontLeft, m_robotMap.backLeft, m_robotMap.frontRight, m_robotMap.backRight);
+>>>>>>> Stashed changes
 
     /* Controllers */
     private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -165,13 +179,17 @@ public class RobotContainer {
         armToHome.asProxy()
     );
 
+<<<<<<< Updated upstream
 
+=======
+>>>>>>> Stashed changes
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
     public RobotContainer() {
         configureButtonBindings();
 
+<<<<<<< Updated upstream
         // * Default Commands
         m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
                 m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
@@ -212,6 +230,14 @@ public class RobotContainer {
     private static class TapState {
         public boolean gearTapped = true;
         public long    gearTime   = 0;
+=======
+        /* Default Commands */
+        // drives the robot with a two-axis input from the driver controller
+        // continually sends updates to the Blinkin LED controller to keep the lights on
+        m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
+
+        microbot.setDefaultCommand(new RunCommand(() -> microbot.drive(m_driverXbox.getLeftYAxis(), m_driverXbox.getRightYAxis())));
+>>>>>>> Stashed changes
     }
 
     /**

src/main/java/frc4388/robot/RobotMap.java

@@ -30,6 +30,7 @@ import frc4388.utility.RobotGyro;
  * testing and modularization.
  */
 public class RobotMap {
+<<<<<<< Updated upstream
   private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14);
   public RobotGyro gyro = new RobotGyro(m_pigeon2);
 
@@ -49,6 +50,26 @@ public class RobotMap {
     } catch (IllegalArgumentException | IllegalAccessException e) {
       // TODO Auto-generated catch block
       e.printStackTrace();
+=======
+
+    public TalonSRX frontLeft = new TalonSRX(20);
+    public TalonSRX backLeft = new TalonSRX(21);
+    public TalonSRX backRight = new TalonSRX(23);
+    public TalonSRX frontRight = new TalonSRX(22);
+
+    
+    public RobotMap() {
+        configureLEDMotorControllers();
+        configureDriveMotorControllers();
+
+        frontRight.configFactoryDefault();
+        frontLeft.configFactoryDefault();
+        backLeft.configFactoryDefault();
+        backRight.configFactoryDefault();
+      
+        frontLeft.setInverted(true);
+        backLeft.setInverted(true);
+>>>>>>> Stashed changes
     }
   }
 

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

@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Microbot extends SubsystemBase {
+  /** Creates a new Microbot. */
+
+  TalonSRX frontLeft;
+  TalonSRX backLeft;
+  TalonSRX frontRight;
+  TalonSRX backRight;
+
+  public Microbot(TalonSRX frontLeft, TalonSRX backLeft, TalonSRX frontRight, TalonSRX backRight) {
+    this.frontLeft = frontLeft;
+    this.backLeft = backLeft;
+    this.frontRight = backRight;
+    this.backRight = backRight;
+  }
+
+  public void drive(double leftOutput, double rightOutput) {
+    frontLeft.set(ControlMode.PercentOutput, leftOutput);
+    backLeft.set(ControlMode.PercentOutput, leftOutput);
+    frontRight.set(ControlMode.PercentOutput, rightOutput);
+    backRight.set(ControlMode.PercentOutput, rightOutput);
+  }
+
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

src/main/java/frc4388/utility/controller/XboxController.java

@@ -13,8 +13,8 @@ public class XboxController implements IHandController
 	public static final int LEFT_Y_AXIS = 1;
 	public static final int LEFT_TRIGGER_AXIS = 2;
 	public static final int RIGHT_TRIGGER_AXIS = 3;
-	public static final int RIGHT_X_AXIS = 4;
-	public static final int RIGHT_Y_AXIS = 5;
+	public static final int RIGHT_X_AXIS = 2;
+	public static final int RIGHT_Y_AXIS = 3;
 	public static final int LEFT_RIGHT_DPAD_AXIS = 6;
 	public static final int TOP_BOTTOM_DPAD_AXIS = 6;