Team4388/2026KPopRobotHunters
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Rotate and Autos

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This commit is contained in:
Shikhar
2026-01-19 13:42:16 -07:00
parent c68329c9ca
commit f600317435
14 changed files with 258 additions and 183 deletions
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src/main/java/frc4388/robot/RobotMap.java
+11 -11
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@@ -40,8 +40,8 @@ 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
@@ -61,15 +61,15 @@ public class RobotMap {
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);
// 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");
FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// // Configure LiDAR
// reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
@@ -121,8 +121,8 @@ public class RobotMap {
// case SIM:
// break;
default:
// leftCamera = new VisionIO() {};
// rightCamera = new VisionIO() {};
leftCamera = new VisionIO() {};
rightCamera = new VisionIO() {};
// reefLidar = new LidarIO() {};
// reverseLidar = new LidarIO() {};
swerveDrivetrain = new SwerveIO() {};