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RobotMap intake and shooter

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This commit is contained in:
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;
}
}