Team4388/2025RidgeScape
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i love using phonix 6 sweve drivetrain

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This commit is contained in:
C4llSiqn
2025-01-06 14:51:44 -07:00
parent 5348cafeea
commit 631958e662
2 changed files with 31 additions and 4 deletions
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src/main/java/frc4388/robot/RobotMap.java
+13 -2
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@@ -10,6 +10,10 @@ package frc4388.robot;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
// import edu.wpi.first.wpilibj.motorcontrol.Spark;
// import frc4388.robot.Constants.LEDConstants;
@@ -22,8 +26,8 @@ import frc4388.utility.RobotGyro;
* testing and modularization.
*/
public class RobotMap {
private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
public RobotGyro gyro = new RobotGyro(m_pigeon2);
// private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
public SwerveModule leftFront;
public SwerveModule rightFront;
@@ -37,6 +41,13 @@ public class RobotMap {
/* LED Subsystem */
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
public final SwerveDrivetrain swerveDrivetrain = new SwerveDrivetrain(
TalonFX::new, TalonFX::new, CANcoder::new,
new SwerveDrivetrainConstants().withPigeon2Id(SwerveDriveConstants.IDs.DRIVE_PIGEON.id),
new SwerveModuleConstants[] {
}
)
/* Swreve Drive Subsystem */
public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL.id);
public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER.id);