Team4388/2026KPopRobotHunters
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Shikhar
2026-02-02 19:41:24 -07:00
parent dc33af165d
commit de0952c14a
5 changed files with 72 additions and 51 deletions
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src/main/java/frc4388/robot/RobotMap.java
+20 -20
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@@ -46,8 +46,8 @@ public class RobotMap {
// private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
public final VisionIO leftCamera;
public final VisionIO rightCamera;
// public final VisionIO leftCamera;
// public final VisionIO rightCamera;
// public final LiDAR lidar = new
@@ -62,21 +62,21 @@ public class RobotMap {
public final SwerveIO swerveDrivetrain;
// /* Elevator Subsystem */
public final ShooterIO shooterIO;
public final IntakeIO intakeIO;
// public final ShooterIO shooterIO;
// public final IntakeIO intakeIO;
public RobotMap(SimConstants.Mode mode) {
switch (mode) {
case REAL:
// Configure cameras
PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
// PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
// PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
leftCamera = new VisionReal(leftCameraReal, VisionConstants.RIGHT_CAMERA_POS); ;
rightCamera = new VisionReal(rightCameraReal, VisionConstants.LEFT_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");
// FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
// FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// // Configure LiDAR
// reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
@@ -98,16 +98,16 @@ public class RobotMap {
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);
// 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);
shooterIO = new ShooterReal(shooter1, shooter2, indexer);
// shooterIO = new ShooterReal(shooter1, shooter2, indexer);
intakeIO = new IntakeReal(arm, roller);
// intakeIO = new IntakeReal(arm, roller);
// Fault
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
@@ -116,8 +116,8 @@ public class RobotMap {
FaultTalonFX.addDevice(shooter1, "Shooter1");
FaultTalonFX.addDevice(shooter2, "Shooter2");
FaultTalonFX.addDevice(indexer, "Indexer");
FaultTalonFX.addDevice(arm, "Arm");
FaultTalonFX.addDevice(roller, "Roller");
// 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");
@@ -136,11 +136,11 @@ public class RobotMap {
// case SIM:
// break;
default:
leftCamera = new VisionIO() {};
rightCamera = new VisionIO() {};
// leftCamera = new VisionIO() {};
// rightCamera = new VisionIO() {};
swerveDrivetrain = new SwerveIO() {};
intakeIO = new IntakeIO() {};
shooterIO = new ShooterIO() {};
// intakeIO = new IntakeIO() {};
// shooterIO = new ShooterIO() {};
break;
}
}