Team4388/2026KPopRobotHunters
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Merge branch 'shoot-button' into Leds_idk

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This commit is contained in:
Michael Mikovsky
2026-02-11 16:34:12 -07:00
committed by GitHub
parent 0cc2d423fe f2415195ce
commit de0876293b
35 changed files with 1597 additions and 370 deletions
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src/main/java/frc4388/robot/RobotMap.java
+33 -26
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@@ -9,26 +9,24 @@ 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;
//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;
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;
@@ -55,18 +53,19 @@ public class RobotMap {
/* Swreve Drive Subsystem */
// public final SwerveIO swerveDrivetrain;
// /* Elevator Subsystem */
// public final ElevatorIO elevatorIO;
// /* Shooter and Intake Subsystem */
public final ShooterIO shooterIO;
public final IntakeIO intakeIO;
public RobotMap(SimConstants.Mode mode) {
switch (mode) {
case REAL:
// // Configure cameras
// Configure cameras
// PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
// PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
// leftCamera = new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS); ;
// rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
// leftCamera = new VisionReal(leftCameraReal, VisionConstants.RIGHT_CAMERA_POS); ;
// rightCamera = new VisionReal(rightCameraReal, VisionConstants.LEFT_CAMERA_POS);
// FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
// FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
@@ -84,25 +83,34 @@ public class RobotMap {
// swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// Configure elevator
// TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
// TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
// Configure Shooter 22,23,24
TalonFX shooter1 = new TalonFX(ShooterConstants.SHOOTER1_ID.id, Constants.CANIVORE_CANBUS);
TalonFX shooter2 = new TalonFX(ShooterConstants.SHOOTER2_ID.id, Constants.CANIVORE_CANBUS);
TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id, Constants.CANIVORE_CANBUS);
//Configure Intake 20,21
TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.CANIVORE_CANBUS);
TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.CANIVORE_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);
// elevatorIO = new ElevatorReal(elevator, endeffector, basinLimitSwitch, endeffectorLimitSwitch, IRIntakeBeam);
// shooterIO = new ShooterIO() {};
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 +131,9 @@ public class RobotMap {
default:
// leftCamera = new VisionIO() {};
// rightCamera = new VisionIO() {};
// reefLidar = new LidarIO() {};
// reverseLidar = new LidarIO() {};
// swerveDrivetrain = new SwerveIO() {};
// elevatorIO = new ElevatorIO() {};
swerveDrivetrain = new SwerveIO() {};
intakeIO = new IntakeIO() {};
shooterIO = new ShooterIO() {};
break;
}
}