From 2720626c9f916ba466376bce37ec92f50f98602b Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Sat, 22 Jan 2022 13:55:44 -0700
Subject: [PATCH] Update RobotMap.java

---
 src/main/java/frc4388/robot/RobotMap.java | 42 +++++------------------
 1 file changed, 8 insertions(+), 34 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 3456b71..b998ca9 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -12,11 +12,12 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.PigeonIMU;
 
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.Constants.FalconTesterConstants;
 import frc4388.robot.Constants.LEDConstants;
-import frc4388.utility.RobotGyro;
+import frc4388.robot.subsystems.FalconTester;
 
 /**
  * Defines and holds all I/O objects on the Roborio. This is useful for unit
@@ -26,7 +27,7 @@ public class RobotMap {
 
     public RobotMap() {
         configureLEDMotorControllers();
-        configureDriveMotorControllers();
+        configureFalconTestMotorControllers();
     }
 
     /* LED Subsystem */
@@ -36,36 +37,9 @@ public class RobotMap {
         
     }
 
-    /* Drive Subsystem */
-    public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
-    public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
-    public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
-    public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
-    public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
-    public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID));
-
-    void configureDriveMotorControllers() {
-
-        /* factory default values */
-        leftFrontMotor.configFactoryDefault();
-        rightFrontMotor.configFactoryDefault();
-        leftBackMotor.configFactoryDefault();
-        rightBackMotor.configFactoryDefault();
-
-        /* set back motors as followers */
-        leftBackMotor.follow(leftFrontMotor);
-        rightBackMotor.follow(rightFrontMotor);
-
-        /* set neutral mode */
-        leftFrontMotor.setNeutralMode(NeutralMode.Brake);
-        rightFrontMotor.setNeutralMode(NeutralMode.Brake);
-        leftFrontMotor.setNeutralMode(NeutralMode.Brake);
-        rightFrontMotor.setNeutralMode(NeutralMode.Brake);
-
-        /* flip input so forward becomes back, etc */
-        leftFrontMotor.setInverted(false);
-        rightFrontMotor.setInverted(false);
-        leftBackMotor.setInverted(InvertType.FollowMaster);
-        rightBackMotor.setInverted(InvertType.FollowMaster);
+    public final WPI_TalonFX falconTestMotor = new WPI_TalonFX(FalconTesterConstants.CAN_ID);
+    void configureFalconTestMotorControllers() {
+        falconTestMotor.configFactoryDefault();
+        falconTestMotor.setNeutralMode(NeutralMode.Brake);
     }
 }