Team4388/2026KPopRobotHunters
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Robot should be ready

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This commit is contained in:
Michael Mikovsky
2026-02-09 17:18:54 -08:00
parent d90bddac0f
commit 51d2b80ea0
14 changed files with 183 additions and 95 deletions
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src/main/java/frc4388/robot/RobotMap.java
+12 -11
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@@ -11,6 +11,8 @@ import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import frc4388.robot.constants.Constants;
//import frc4388.robot.constants.Constants.ElevatorConstants;
import frc4388.robot.constants.Constants.SimConstants;
import frc4388.robot.subsystems.intake.IntakeConstants;
@@ -82,22 +84,21 @@ public class RobotMap {
swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// 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);
TalonFX shooter1 = new TalonFX(ShooterConstants.SHOOTER1_ID.id, Constants.RIO_CANBUS);
TalonFX shooter2 = new TalonFX(ShooterConstants.SHOOTER2_ID.id, Constants.RIO_CANBUS);
TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id, Constants.RIO_CANBUS);
//Configure Intake 20,21
TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id);
TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id);
TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.RIO_CANBUS);
TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.RIO_CANBUS);
// 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 ShooterIO() {};
// shooterIO = new ShooterReal(shooter1, shooter2, indexer);
// shooterIO = new ShooterIO() {};
shooterIO = new ShooterReal(shooter1, shooter2, indexer);
intakeIO = new IntakeReal(arm, roller);
@@ -105,9 +106,9 @@ public class RobotMap {
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
// FaultTalonFX.addDevice(shooter1, "Shooter1");
// FaultTalonFX.addDevice(shooter2, "Shooter2");
// FaultTalonFX.addDevice(indexer, "Indexer");
FaultTalonFX.addDevice(shooter1, "Shooter1");
FaultTalonFX.addDevice(shooter2, "Shooter2");
FaultTalonFX.addDevice(indexer, "Indexer");
FaultTalonFX.addDevice(arm, "Arm");
FaultTalonFX.addDevice(roller, "Roller");