Initial commit

src/main/java/frc4388/robot/subsystems/Drive.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.InvertType;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc4388.robot.Constants.DriveConstants;
+
+/**
+ * Add your docs here.
+ */
+public class Drive extends SubsystemBase {
+  // Put methods for controlling this subsystem
+  // here. Call these from Commands.
+
+  public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
+  public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
+  public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
+  public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
+
+  public static DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
+
+  /**
+   * Add your docs here.
+   */
+  public Drive(){
+    /* factory default values */
+    m_leftFrontMotor.configFactoryDefault();
+    m_rightFrontMotor.configFactoryDefault();
+    m_leftBackMotor.configFactoryDefault();
+    m_rightBackMotor.configFactoryDefault();
+
+    /* set back motors as followers */
+    m_leftBackMotor.follow(m_leftFrontMotor);
+    m_rightBackMotor.follow(m_rightFrontMotor);
+
+    /* set neutral mode */
+    m_leftFrontMotor.setNeutralMode(NeutralMode.Brake);
+    m_rightFrontMotor.setNeutralMode(NeutralMode.Brake);
+    m_leftFrontMotor.setNeutralMode(NeutralMode.Brake);
+    m_rightFrontMotor.setNeutralMode(NeutralMode.Brake);
+
+    /* flip input so forward becomes back, etc */
+    m_leftFrontMotor.setInverted(false);
+    m_rightFrontMotor.setInverted(false);
+    m_leftBackMotor.setInverted(InvertType.FollowMaster);
+    m_rightBackMotor.setInverted(InvertType.FollowMaster);
+  }
+
+  /**
+   * Add your docs here.
+   */
+  public void driveWithInput(double move, double steer){
+    m_driveTrain.arcadeDrive(move, steer);
+  }
+}

src/main/java/frc4388/robot/subsystems/LED.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc4388.robot.Constants.LEDConstants;
+import frc4388.utility.LEDPatterns;
+
+/**
+ * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
+ * Driver
+ */
+public class LED extends SubsystemBase {
+
+  public static float currentLED;
+  public static Spark LEDController;
+
+  /**
+   * Add your docs here.
+   */
+  public LED(){
+    LEDController = new Spark(LEDConstants.LED_SPARK_ID);
+    setPattern(LEDConstants.DEFAULT_PATTERN);
+    LEDController.set(currentLED);
+    System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
+  }
+
+  /**
+   * Add your docs here.
+   */
+  public void updateLED(){
+    LEDController.set(currentLED);
+  }
+
+  /**
+   * Add your docs here.
+   */
+  public void setPattern(LEDPatterns pattern){
+    currentLED = pattern.getValue();
+    LEDController.set(currentLED);
+  }
+
+  @Override
+  public void periodic(){
+    SmartDashboard.putNumber("LED", currentLED);
+  }
+}