Team4388/2026KPopRobotHunters
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updated to 2026

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removed 2025
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C4llSqin
2026-01-08 19:42:41 -07:00
parent 725287a284
commit 17c3ff1ec9
32 changed files with 543 additions and 922 deletions
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src/main/java/frc4388/robot/RobotMap.java
+32 -32
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@@ -17,12 +17,12 @@ import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.DigitalInput;
import frc4388.robot.constants.Constants.ElevatorConstants;
//import frc4388.robot.constants.Constants.ElevatorConstants;
import frc4388.robot.constants.Constants.LiDARConstants;
import frc4388.robot.constants.Constants.SimConstants;
import frc4388.robot.constants.Constants.VisionConstants;
import frc4388.robot.subsystems.elevator.ElevatorIO;
import frc4388.robot.subsystems.elevator.ElevatorReal;
// import frc4388.robot.subsystems.elevator.ElevatorIO;
// import frc4388.robot.subsystems.elevator.ElevatorReal;
import frc4388.robot.subsystems.lidar.LiDAR;
import frc4388.robot.subsystems.lidar.LidarIO;
import frc4388.robot.subsystems.lidar.LidarReal;
@@ -44,13 +44,13 @@ public class RobotMap {
// private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
public final VisionIO leftCamera;
public final VisionIO rightCamera;
// public final VisionIO leftCamera;
// public final VisionIO rightCamera;
// public final LiDAR lidar = new
public final LidarIO reefLidar;
public final LidarIO reverseLidar;
// public final LidarIO reefLidar;
// public final LidarIO reverseLidar;
/* LED Subsystem */
@@ -59,25 +59,25 @@ public class RobotMap {
/* Swreve Drive Subsystem */
public final SwerveIO swerveDrivetrain;
/* Elevator Subsystem */
public final ElevatorIO elevatorIO;
// /* Elevator Subsystem */
// public final ElevatorIO elevatorIO;
public RobotMap(SimConstants.Mode mode) {
switch (mode) {
case REAL:
// Configure cameras
PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
// // Configure cameras
// PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
// PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
leftCamera = new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS); ;
rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
// leftCamera = new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS); ;
// rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
// FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// Configure LiDAR
reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
reverseLidar = new LidarReal(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL);
// // Configure LiDAR
// reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
// 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,
@@ -90,23 +90,23 @@ public class RobotMap {
// Configure elevator
TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
// TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
// TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
// DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
// DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
elevatorIO = new ElevatorReal(elevator, endeffector, basinLimitSwitch, endeffectorLimitSwitch, IRIntakeBeam);
// elevatorIO = new ElevatorReal(elevator, endeffector, basinLimitSwitch, endeffectorLimitSwitch, IRIntakeBeam);
// Fault
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");
@@ -125,12 +125,12 @@ public class RobotMap {
// case SIM:
// break;
default:
leftCamera = new VisionIO() {};
rightCamera = new VisionIO() {};
reefLidar = new LidarIO() {};
reverseLidar = new LidarIO() {};
// leftCamera = new VisionIO() {};
// rightCamera = new VisionIO() {};
// reefLidar = new LidarIO() {};
// reverseLidar = new LidarIO() {};
swerveDrivetrain = new SwerveIO() {};
elevatorIO = new ElevatorIO() {};
// elevatorIO = new ElevatorIO() {};
break;
}
}