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functional constants, may need revision. sweve drivetrain in robot map

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C4llSiqn
2025-01-06 20:41:44 -07:00
parent e07bb2fa7b
commit 7f93deef6e
2 changed files with 120 additions and 194 deletions
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src/main/java/frc4388/robot/RobotMap.java
+8 -36
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@@ -29,48 +29,20 @@ public class RobotMap {
// private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
public SwerveModule leftFront;
public SwerveModule rightFront;
public SwerveModule leftBack;
public SwerveModule rightBack;
public RobotMap() {
configureDriveMotorControllers();
}
/* 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);
public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER.id);
public final SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrain = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new,
Constants.SwerveDriveConstants.DrivetrainConstants,
Constants.SwerveDriveConstants.FRONT_LEFT, Constants.SwerveDriveConstants.FRONT_RIGHT,
Constants.SwerveDriveConstants.BACK_LEFT, Constants.SwerveDriveConstants.BACK_RIGHT
);
public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL.id);
public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER.id);
public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER.id);
public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL.id);
public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER.id);
public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER.id);
public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL.id);
public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER.id);
public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER.id);
void configureDriveMotorControllers() {
// initialize SwerveModules
this.rightFront = new SwerveModule("Right Front Swerve Module", rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
this.leftFront = new SwerveModule("Left Front Swerve Module", leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
this.leftBack = new SwerveModule("Left Back Swerve Module", leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
this.rightBack = new SwerveModule("Right Back Swerve Module", rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
}
void configureDriveMotorControllers() {}
}