Team4388/2026KPopRobotHunters
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LEDs

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This commit is contained in:
Michael Mikovsky
2026-01-29 18:02:04 -07:00
parent fe412d0981
commit 0cc2d423fe
6 changed files with 128 additions and 94 deletions
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src/main/java/frc4388/robot/RobotMap.java
+23 -23
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@@ -53,7 +53,7 @@ public class RobotMap {
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
/* Swreve Drive Subsystem */
public final SwerveIO swerveDrivetrain;
// public final SwerveIO swerveDrivetrain;
// /* Elevator Subsystem */
// public final ElevatorIO elevatorIO;
@@ -76,13 +76,13 @@ public class RobotMap {
// reverseLidar = new LidarReal(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL);
// Configure swerve drive train
SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrainReal = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new,
SwerveDriveConstants.DrivetrainConstants,
SwerveDriveConstants.FRONT_LEFT, SwerveDriveConstants.FRONT_RIGHT,
SwerveDriveConstants.BACK_LEFT, SwerveDriveConstants.BACK_RIGHT
);
// SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrainReal = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new,
// SwerveDriveConstants.DrivetrainConstants,
// SwerveDriveConstants.FRONT_LEFT, SwerveDriveConstants.FRONT_RIGHT,
// SwerveDriveConstants.BACK_LEFT, SwerveDriveConstants.BACK_RIGHT
// );
swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// Configure elevator
@@ -99,23 +99,23 @@ public class RobotMap {
// Fault
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
// FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
// FaultTalonFX.addDevice(elevator, "Elevator");
// FaultTalonFX.addDevice(endeffector, "Endeffector");
// // FaultTalonFX.addDevice(elevator, "Elevator");
// // FaultTalonFX.addDevice(endeffector, "Endeffector");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(0).getEncoder(), "Module 0 CANCoder");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getDriveMotor(), "Module 1 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getSteerMotor(), "Module 1 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(1).getEncoder(), "Module 1 CANCoder");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getDriveMotor(), "Module 2 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getSteerMotor(), "Module 2 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(2).getEncoder(), "Module 2 CANCoder");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getDriveMotor(), "Module 3 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getSteerMotor(), "Module 3 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(3).getEncoder(), "Module 3 CANCoder");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(0).getEncoder(), "Module 0 CANCoder");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getDriveMotor(), "Module 1 Drive");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getSteerMotor(), "Module 1 Steer");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(1).getEncoder(), "Module 1 CANCoder");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getDriveMotor(), "Module 2 Drive");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getSteerMotor(), "Module 2 Steer");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(2).getEncoder(), "Module 2 CANCoder");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getDriveMotor(), "Module 3 Drive");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getSteerMotor(), "Module 3 Steer");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(3).getEncoder(), "Module 3 CANCoder");
break;
// case SIM:
@@ -125,7 +125,7 @@ public class RobotMap {
// rightCamera = new VisionIO() {};
// reefLidar = new LidarIO() {};
// reverseLidar = new LidarIO() {};
swerveDrivetrain = new SwerveIO() {};
// swerveDrivetrain = new SwerveIO() {};
// elevatorIO = new ElevatorIO() {};
break;
}