Team4388/2026KPopRobotHunters
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Remove errrors from merge

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This commit is contained in:
Michael Mikovsky
2026-02-11 16:36:51 -07:00
parent 1eb38c1e49
commit b81a6b5be7
2 changed files with 142 additions and 89 deletions
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src/main/java/frc4388/robot/RobotMap.java
+20 -20
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@@ -51,7 +51,7 @@ public class RobotMap {
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
/* Swreve Drive Subsystem */
// public final SwerveIO swerveDrivetrain;
public final SwerveIO swerveDrivetrain;
// /* Shooter and Intake Subsystem */
public final ShooterIO shooterIO;
@@ -75,13 +75,13 @@ public class RobotMap {
// 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,
// SwerveDriveConstants.DrivetrainConstants,
// SwerveDriveConstants.FRONT_LEFT, SwerveDriveConstants.FRONT_RIGHT,
// SwerveDriveConstants.BACK_LEFT, SwerveDriveConstants.BACK_RIGHT
// );
SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrainReal = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new,
SwerveDriveConstants.DrivetrainConstants,
SwerveDriveConstants.FRONT_LEFT, SwerveDriveConstants.FRONT_RIGHT,
SwerveDriveConstants.BACK_LEFT, SwerveDriveConstants.BACK_RIGHT
);
// swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// Configure Shooter 22,23,24
TalonFX shooter1 = new TalonFX(ShooterConstants.SHOOTER1_ID.id, Constants.CANIVORE_CANBUS);
@@ -103,7 +103,7 @@ public class RobotMap {
intakeIO = new IntakeReal(arm, roller);
// Fault
// FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
FaultTalonFX.addDevice(shooter1, "Shooter1");
@@ -112,18 +112,18 @@ public class RobotMap {
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");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(0).getEncoder(), "Module 0 CANCoder");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getDriveMotor(), "Module 1 Drive");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getSteerMotor(), "Module 1 Steer");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(1).getEncoder(), "Module 1 CANCoder");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getDriveMotor(), "Module 2 Drive");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getSteerMotor(), "Module 2 Steer");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(2).getEncoder(), "Module 2 CANCoder");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getDriveMotor(), "Module 3 Drive");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getSteerMotor(), "Module 3 Steer");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(3).getEncoder(), "Module 3 CANCoder");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(0).getEncoder(), "Module 0 CANCoder");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getDriveMotor(), "Module 1 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getSteerMotor(), "Module 1 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(1).getEncoder(), "Module 1 CANCoder");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getDriveMotor(), "Module 2 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getSteerMotor(), "Module 2 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(2).getEncoder(), "Module 2 CANCoder");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getDriveMotor(), "Module 3 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getSteerMotor(), "Module 3 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(3).getEncoder(), "Module 3 CANCoder");
break;
// case SIM: