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changed CAN IDs in code (im geekin)

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Abhishrek05
2024-01-12 20:29:50 -07:00
parent a1b28dabee
commit 1cd7296e0e
4 changed files with 14 additions and 108 deletions
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src/main/java/frc4388/robot/subsystems/DiffDrive.java
-85
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@@ -1,85 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.utility.RobotGyro;
import frc4388.utility.RobotTime;
/**
* Add your docs here.
*/
public class DiffDrive extends SubsystemBase {
// Put methods for controlling this subsystem
// here. Call these from Commands.
private RobotTime m_robotTime = RobotTime.getInstance();
private WPI_TalonFX m_leftFrontMotor;
private WPI_TalonFX m_rightFrontMotor;
private WPI_TalonFX m_leftBackMotor;
private WPI_TalonFX m_rightBackMotor;
private DifferentialDrive m_driveTrain;
private RobotGyro m_gyro;
/**
* Add your docs here.
*/
public DiffDrive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
m_leftFrontMotor = leftFrontMotor;
m_rightFrontMotor = rightFrontMotor;
m_leftBackMotor = leftBackMotor;
m_rightBackMotor = rightBackMotor;
m_driveTrain = driveTrain;
m_gyro = gyro;
}
@Override
public void periodic() {
m_gyro.updatePigeonDeltas();
if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
updateSmartDashboard();
}
}
/**
* Add your docs here.
*/
public void driveWithInput(double move, double steer) {
m_driveTrain.arcadeDrive(move, steer);
}
/**
* Add your docs here.
*/
public void tankDriveWithInput(double leftMove, double rightMove) {
m_leftFrontMotor.set(leftMove);
m_rightFrontMotor.set(rightMove);
}
/**
* Add your docs here.
*/
private void updateSmartDashboard() {
// Examples of the functionality of RobotGyro
SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
//SmartDashboard.putData(m_gyro);
}
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -14,7 +14,7 @@ import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.RobotGyro;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class SwerveDrive extends SubsystemBase {
public class SwerveDrive extends SubsystemBase {
private SwerveModule leftFront;
private SwerveModule rightFront;