Team4388/2026KPopRobotHunters
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RobotMap intake and shooter

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Shikhar
2026-01-29 16:59:53 -07:00
parent e2797ab778
commit 8bda61b983
4 changed files with 42 additions and 20 deletions
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src/main/java/frc4388/robot/RobotMap.java
+25 -11
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@@ -20,6 +20,12 @@ import edu.wpi.first.wpilibj.DigitalInput;
//import frc4388.robot.constants.Constants.ElevatorConstants;
import frc4388.robot.constants.Constants.SimConstants;
import frc4388.robot.constants.Constants.VisionConstants;
import frc4388.robot.subsystems.intake.IntakeConstants;
import frc4388.robot.subsystems.intake.IntakeIO;
import frc4388.robot.subsystems.intake.IntakeReal;
import frc4388.robot.subsystems.shooter.ShooterConstants;
import frc4388.robot.subsystems.shooter.ShooterIO;
import frc4388.robot.subsystems.shooter.ShooterReal;
// import frc4388.robot.subsystems.elevator.ElevatorIO;
// import frc4388.robot.subsystems.elevator.ElevatorReal;
import frc4388.robot.subsystems.swerve.SwerveDriveConstants;
@@ -56,7 +62,8 @@ public class RobotMap {
public final SwerveIO swerveDrivetrain;
// /* Elevator Subsystem */
// public final ElevatorIO elevatorIO;
public final ShooterIO shooterIO;
public final IntakeIO intakeIO;
public RobotMap(SimConstants.Mode mode) {
switch (mode) {
@@ -84,25 +91,33 @@ public class RobotMap {
swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// Configure elevator
// Configure Shooter
// TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
// TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
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);
// 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);
shooterIO = new ShooterReal(shooter1, shooter2, indexer);
intakeIO = new IntakeReal(arm, roller);
// Fault
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
// FaultTalonFX.addDevice(elevator, "Elevator");
// FaultTalonFX.addDevice(endeffector, "Endeffector");
FaultTalonFX.addDevice(shooter1, "Shooter1");
FaultTalonFX.addDevice(shooter2, "Shooter2");
FaultTalonFX.addDevice(indexer, "Indexer");
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");
@@ -123,10 +138,9 @@ public class RobotMap {
default:
leftCamera = new VisionIO() {};
rightCamera = new VisionIO() {};
// reefLidar = new LidarIO() {};
// reverseLidar = new LidarIO() {};
swerveDrivetrain = new SwerveIO() {};
// elevatorIO = new ElevatorIO() {};
intakeIO = new IntakeIO() {};
shooterIO = new ShooterIO() {};
break;
}
}
src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 15;
public static final String GIT_SHA = "ba16f53d6d8155249e7ca767b54fbfa1f17ce68e";
public static final String GIT_DATE = "2026-01-20 19:23:14 MST";
public static final String GIT_BRANCH = "Intake-boilerplate";
public static final String BUILD_DATE = "2026-01-27 18:56:30 MST";
public static final long BUILD_UNIX_TIME = 1769565390510L;
public static final int GIT_REVISION = 22;
public static final String GIT_SHA = "e2797ab77871b91d546e6e9793852cf94d8b712f";
public static final String GIT_DATE = "2026-01-27 19:28:57 MST";
public static final String GIT_BRANCH = "Subsystem-Boilerplate";
public static final String BUILD_DATE = "2026-01-29 16:59:21 MST";
public static final long BUILD_UNIX_TIME = 1769731161482L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+7
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@@ -20,6 +20,13 @@ public class IntakeConstants {
public static final double ARM_MOTOR_GEAR_RATIO = 1.;
public static final double ROLLER_MOTOR_GEAR_RATIO = 1.;
//IDs
public static final CanDevice ARM_ID = new CanDevice("SHOOTER 1", 20);
public static final CanDevice ROLLER_ID = new CanDevice("SHOOTER 2", 21);
// Limits
// 0 is the forward angle on the robot.
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+4 -3
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@@ -48,9 +48,10 @@ public class ShooterConstants {
// .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
// );
public static final class IDs {
public static final CanDevice FLYWHEEK_CAN_DEVICE = new CanDevice("Flywheel", 22);
}
public static final CanDevice SHOOTER1_ID = new CanDevice("SHOOTER 1", 22);
public static final CanDevice SHOOTER2_ID = new CanDevice("SHOOTER 2", 23);
public static final CanDevice INDEXER_ID = new CanDevice("INDEXER",24);
public static final TalonFXConfiguration SHOOTER1_MOTOR_CONFIG = new TalonFXConfiguration()
.withCurrentLimits(