Team4388/2026KPopRobotHunters
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Intake code ready for robot

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This commit is contained in:
Michael Mikovsky
2026-02-09 16:03:48 -08:00
parent 684e18ddcc
commit d90bddac0f
6 changed files with 61 additions and 70 deletions
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src/main/java/frc4388/robot/RobotMap.java
+9 -17
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@@ -9,17 +9,10 @@ package frc4388.robot;
import com.ctre.phoenix6.hardware.TalonFX;
import org.photonvision.PhotonCamera;
import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.simulation.SimCameraProperties;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import edu.wpi.first.math.geometry.Rotation2d;
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;
@@ -31,10 +24,7 @@ import frc4388.robot.subsystems.shooter.ShooterReal;
import frc4388.robot.subsystems.swerve.SwerveDriveConstants;
import frc4388.robot.subsystems.swerve.SwerveIO;
import frc4388.robot.subsystems.swerve.SwerveReal;
import frc4388.robot.subsystems.vision.VisionIO;
import frc4388.robot.subsystems.vision.VisionReal;
import frc4388.utility.status.FaultCANCoder;
import frc4388.utility.status.FaultPhotonCamera;
import frc4388.utility.status.FaultPidgeon2;
import frc4388.utility.status.FaultTalonFX;
@@ -93,9 +83,9 @@ public class RobotMap {
// 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);
// TalonFX shooter2 = new TalonFX(ShooterConstants.SHOOTER2_ID.id);
// TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id);
//Configure Intake 20,21
TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id);
@@ -105,7 +95,9 @@ public class RobotMap {
// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
// DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
shooterIO = new ShooterReal(shooter1, shooter2, indexer);
shooterIO = new ShooterIO() {};
// shooterIO = new ShooterReal(shooter1, shooter2, indexer);
intakeIO = new IntakeReal(arm, roller);
@@ -113,9 +105,9 @@ 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");