Team4388/2023WayOfTheRobot
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This commit is contained in:
Ryan Manley
2023-01-13 20:24:38 -07:00
parent 239cd8b00e
commit da6ccb19d1
3 changed files with 66 additions and 8 deletions
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src/main/java/frc4388/robot/Robot.java
+35 -5
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@@ -7,12 +7,16 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
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;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.commands.AutoBalanceTF2;
import frc4388.utility.RobotGyro;
import frc4388.utility.RobotTime;
@@ -29,8 +33,34 @@ public class Robot extends TimedRobot {
private RobotTime m_robotTime = RobotTime.getInstance();
private RobotContainer m_robotContainer;
private WPI_Pigeon2 pigeon = new WPI_Pigeon2(14);
private RobotGyro gyro = new RobotGyro(pigeon);
public static class MicroBot extends SubsystemBase {
public WPI_Pigeon2 pigeon = new WPI_Pigeon2(14);
public RobotGyro gyro = new RobotGyro(pigeon);
public TalonSRX frontLeft = new TalonSRX(2);
public TalonSRX backLeft = new TalonSRX(3);
public TalonSRX backRight = new TalonSRX(5);
public TalonSRX frontRight = new TalonSRX(4);
public MicroBot() {
frontRight.configFactoryDefault();
frontLeft.configFactoryDefault();
backLeft.configFactoryDefault();
backRight.configFactoryDefault();
frontLeft.setInverted(true);
backLeft.setInverted(true);
}
public void setOutput(double output) {
frontRight.set(ControlMode.PercentOutput, output);
frontLeft.set(ControlMode.PercentOutput, output);
backLeft.set(ControlMode.PercentOutput, output);
backRight.set(ControlMode.PercentOutput, output);
}
}
private MicroBot bot = new MicroBot();
/**
* This function is run when the robot is first started up and should be
@@ -41,6 +71,9 @@ 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();
bot.setDefaultCommand(new AutoBalanceTF2(bot.frontLeft,
bot.frontRight, bot.backLeft, bot.backRight, bot.gyro, bot));
}
/**
@@ -122,9 +155,6 @@ public class Robot extends TimedRobot {
*/
@Override
public void teleopPeriodic() {
SmartDashboard.putNumber("Gyro Yaw", gyro.getYaw());
SmartDashboard.putNumber("Gyro Pitch", gyro.getPitch());
SmartDashboard.putNumber("Gyro Roll", gyro.getRoll());
SmartDashboard.putNumber("yaw", m_robotContainer.gyroRef.getAngle());
SmartDashboard.putNumber("pitch", m_robotContainer.gyroRef.getPitch());
SmartDashboard.putNumber("roll", m_robotContainer.gyroRef.getRoll());