Team4388/2024AcrossTheRidgebotiverse
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This commit is contained in:
Michael Mikovsky
2024-06-18 11:52:58 -06:00
parent 5b0132a259
commit d19ff47543
9 changed files with 220 additions and 437 deletions
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src/main/java/frc4388/robot/RobotMap.java
+8 -1
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@@ -31,6 +31,7 @@ import frc4388.utility.RobotGyro;
public class RobotMap {
// private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14);
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
public RobotGyro gyro = null;
public SwerveModule leftFront;
public SwerveModule rightFront;
@@ -152,8 +153,14 @@ public class RobotMap {
// rightBackSteer.setNeutralMode(NeutralMode.Brake);
// // initialize SwerveModules
// this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
this.leftFront = this.rightFront;
this.leftBack = this.rightFront;
this.rightBack = this.rightFront;
// this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
// this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
// this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
// this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
}