Team4388/2024AcrossTheRidgebotiverse
1
0
Fork 0
mirror of https://github.com/Team4388/2024AcrossTheRidgebotiverse.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

Setup Swerve and add Deadbanded Xbox

Browse Source
This commit is contained in:
Abhishrek05
2024-01-08 13:47:43 -07:00
parent 1ad5464df5
commit a1b28dabee
4 changed files with 105 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotMap.java
+58 -2
View File
@@ -10,11 +10,14 @@ package frc4388.robot;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule;
import frc4388.utility.RobotGyro;
/**
@@ -22,6 +25,13 @@ import frc4388.utility.RobotGyro;
* testing and modularization.
*/
public class RobotMap {
private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14);
public RobotGyro gyro = new RobotGyro(m_pigeon2);
public SwerveModule leftFront;
public SwerveModule rightFront;
public SwerveModule leftBack;
public SwerveModule rightBack;
public RobotMap() {
configureLEDMotorControllers();
@@ -31,10 +41,56 @@ public class RobotMap {
/* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
void configureLEDMotorControllers() {
/* Swreve Drive Subsystem */
public final WPI_TalonFX leftFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
public final WPI_TalonFX leftFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
public final WPI_TalonFX rightFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
public final WPI_TalonFX rightFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
public final WPI_TalonFX leftBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
public final WPI_TalonFX leftBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
public final WPI_TalonFX rightBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
public final WPI_TalonFX rightBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
void configureLEDMotorControllers() {
}
void configureDriveMotorControllers() {
// config factory default
leftFrontWheel.configFactoryDefault();
leftFrontSteer.configFactoryDefault();
rightFrontWheel.configFactoryDefault();
rightFrontSteer.configFactoryDefault();
leftBackWheel.configFactoryDefault();
leftBackSteer.configFactoryDefault();
rightBackWheel.configFactoryDefault();
rightBackSteer.configFactoryDefault();
// set neutral mode
leftFrontWheel.setNeutralMode(NeutralMode.Brake);
rightFrontWheel.setNeutralMode(NeutralMode.Brake);
leftBackWheel.setNeutralMode(NeutralMode.Brake);
rightBackWheel.setNeutralMode(NeutralMode.Brake);
leftFrontSteer.setNeutralMode(NeutralMode.Brake);
rightFrontSteer.setNeutralMode(NeutralMode.Brake);
leftBackSteer.setNeutralMode(NeutralMode.Brake);
rightBackSteer.setNeutralMode(NeutralMode.Brake);
// initialize SwerveModules
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, -181.230469);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, -270.615234);
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, -240.029297);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, -40.869142);
}
}