mirror of
https://github.com/Team4388/2025RidgeScape.git
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C4llSiqn
77 lines
4.1 KiB
Java
77 lines
4.1 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 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 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.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 SwerveModule leftFront;
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public SwerveModule rightFront;
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public SwerveModule leftBack;
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public SwerveModule rightBack;
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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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public final SwerveDrivetrain swerveDrivetrain = new SwerveDrivetrain(
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TalonFX::new, TalonFX::new, CANcoder::new,
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new SwerveDrivetrainConstants().withPigeon2Id(SwerveDriveConstants.IDs.DRIVE_PIGEON.id),
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new SwerveModuleConstants[] {
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}
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)
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/* Swreve Drive Subsystem */
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public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL.id);
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public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER.id);
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public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER.id);
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public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL.id);
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public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER.id);
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public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER.id);
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public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL.id);
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public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER.id);
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public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER.id);
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public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL.id);
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public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER.id);
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public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER.id);
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void configureDriveMotorControllers() {
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// initialize SwerveModules
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this.rightFront = new SwerveModule("Right Front Swerve Module", rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
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this.leftFront = new SwerveModule("Left Front Swerve Module", leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
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this.leftBack = new SwerveModule("Left Back Swerve Module", leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
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this.rightBack = new SwerveModule("Right Back Swerve Module", rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
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}
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}
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