Team4388/2026KPopRobotHunters
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instant commands for testing

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Shikhar
2026-02-07 14:51:05 -07:00
parent f39bd20b9f
commit 2d9ed527be
6 changed files with 61 additions and 41 deletions
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src/main/java/frc4388/robot/RobotMap.java
+13 -13
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@@ -61,9 +61,9 @@ public class RobotMap {
/* Swreve Drive Subsystem */
public final SwerveIO swerveDrivetrain;
// /* Elevator Subsystem */
// public final ShooterIO shooterIO;
// public final IntakeIO intakeIO;
// /* Shooter and Intake Subsystem */
public final ShooterIO shooterIO;
public final IntakeIO intakeIO;
public RobotMap(SimConstants.Mode mode) {
switch (mode) {
@@ -91,23 +91,23 @@ public class RobotMap {
swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// Configure Shooter
// Configure Shooter 22,23,24
TalonFX shooter1 = new TalonFX(ShooterConstants.SHOOTER1_ID.id);
TalonFX shooter2 = new TalonFX(ShooterConstants.SHOOTER2_ID.id);
TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id);
//Configure Intake
// TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id);
// TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id);
//Configure Intake 20,21
TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id);
TalonFX roller = new TalonFX(IntakeConstants.ROLLER_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);
// shooterIO = new ShooterReal(shooter1, shooter2, indexer);
shooterIO = new ShooterReal(shooter1, shooter2, indexer);
// intakeIO = new IntakeReal(arm, roller);
intakeIO = new IntakeReal(arm, roller);
// Fault
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
@@ -116,8 +116,8 @@ public class RobotMap {
FaultTalonFX.addDevice(shooter1, "Shooter1");
FaultTalonFX.addDevice(shooter2, "Shooter2");
FaultTalonFX.addDevice(indexer, "Indexer");
// FaultTalonFX.addDevice(arm, "Arm");
// FaultTalonFX.addDevice(roller, "Roller");
FaultTalonFX.addDevice(arm, "Arm");
FaultTalonFX.addDevice(roller, "Roller");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
@@ -139,8 +139,8 @@ public class RobotMap {
// leftCamera = new VisionIO() {};
// rightCamera = new VisionIO() {};
swerveDrivetrain = new SwerveIO() {};
// intakeIO = new IntakeIO() {};
// shooterIO = new ShooterIO() {};
intakeIO = new IntakeIO() {};
shooterIO = new ShooterIO() {};
break;
}
}