From 41ff4fb1a8dfe65e517a48031484612017911ac4 Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Thu, 25 Jan 2024 19:43:04 -0700 Subject: [PATCH] add pivot to constants --- src/main/java/frc4388/robot/Constants.java | 2 ++ src/main/java/frc4388/robot/RobotContainer.java | 10 +++++----- src/main/java/frc4388/robot/RobotMap.java | 7 ++++--- 3 files changed, 11 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 9cfb137..3f9fb58 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -160,7 +160,9 @@ public final class Constants { public static final class IntakeConstants { public static final int INTAKE_MOTOR_ID = 17; //TODO: + public static final int PIVOT_MOTOR_ID = 18; //TODO: public static final double INTAKE_SPEED = 0.2; //TODO: + public static final double PIVOT_SPEED = 0.2; //TODO: } public static final class OIConstants { diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index b49028a..0af3739 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -43,9 +43,9 @@ public class RobotContainer { m_robotMap.rightBack, m_robotMap.gyro); - // private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter); + private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter); - //private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor); + //private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor); /* Controllers */ private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); @@ -110,9 +110,9 @@ public class RobotContainer { new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown())); - // new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON) - // .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)) - // .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)); + new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON) + .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)) + .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)); /* Operator Buttons */ diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 12b3524..72292b0 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -63,11 +63,12 @@ public class RobotMap { public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID); /* Shooter Subsystem */ - //public final WPI_TalonFX leftShooter = new WPI_TalonFX(ShooterConstants.LEFT_SHOOTER_ID); - //public final WPI_TalonFX rightShooter = new WPI_TalonFX(ShooterConstants.RIGHT_SHOOTER_ID); + public final WPI_TalonFX leftShooter = new WPI_TalonFX(ShooterConstants.LEFT_SHOOTER_ID); + public final WPI_TalonFX rightShooter = new WPI_TalonFX(ShooterConstants.RIGHT_SHOOTER_ID); /* Intake Subsystem */ - //public final CANSparkMax intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_MOTOR_ID, MotorType.kBrushed); //TODO: MOTOR TYPE + // public final CANSparkMax intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_MOTOR_ID, MotorType.kBrushless); + // public final CANSparkMax pivotMotor = new CANSparkMax(IntakeConstants.PIVOT_MOTOR_ID, MotorType.kBrushless); void configureLEDMotorControllers() { }