mirror of
https://github.com/Team4388/2025RidgeScape.git
synced 2026-06-08 16:28:04 -06:00
Michael Mikovsky
62 lines
2.5 KiB
Java
62 lines
2.5 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot;
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import com.ctre.phoenix6.hardware.TalonFX;
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import org.photonvision.PhotonCamera;
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import com.ctre.phoenix6.hardware.CANcoder;
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import com.ctre.phoenix6.hardware.Pigeon2;
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import com.ctre.phoenix6.swerve.SwerveDrivetrain;
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import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
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import com.ctre.phoenix6.swerve.SwerveModuleConstants;
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import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
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import frc4388.robot.Constants.ElevatorConstants;
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import frc4388.robot.Constants.EndeffectorConstants;
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// import edu.wpi.first.wpilibj.motorcontrol.Spark;
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// import frc4388.robot.Constants.LEDConstants;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.robot.Constants.VisionConstants;
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// import frc4388.robot.subsystems.SwerveModule;
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import frc4388.utility.RobotGyro;
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/**
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* Defines and holds all I/O objects on the Roborio. This is useful for unit
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* testing and modularization.
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*/
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public class RobotMap {
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// private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
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// public RobotGyro gyro = new RobotGyro(m_pigeon2);
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public PhotonCamera camera = new PhotonCamera(VisionConstants.CAMERA_NAME);
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public RobotMap() {
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configureDriveMotorControllers();
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}
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/* LED Subsystem */
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// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
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/* Swreve Drive Subsystem */
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public final SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrain = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new,
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Constants.SwerveDriveConstants.DrivetrainConstants,
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Constants.SwerveDriveConstants.FRONT_LEFT, Constants.SwerveDriveConstants.FRONT_RIGHT,
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Constants.SwerveDriveConstants.BACK_LEFT, Constants.SwerveDriveConstants.BACK_RIGHT
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);
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/* Elevator Subsystem */
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public final TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
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/*Endeffector Subsystem*/
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public final TalonFX endeffector = new TalonFX(EndeffectorConstants.ENDEFFECTOR_ID.id);
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void configureDriveMotorControllers() {}
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}
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