Team4388/Robot-Electronics-Test
1
0
Fork 0
mirror of https://github.com/Team4388/Robot-Electronics-Test.git synced 2026-06-09 00:38:00 -06:00
Code Issues Packages Projects Releases Wiki Activity

Update RobotMap.java

Browse Source
This commit is contained in:
aarav18
2022-01-22 13:55:44 -07:00
parent a6048afb5b
commit 2720626c9f
1 changed files with 8 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotMap.java
+8 -34
View File
@@ -12,11 +12,12 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU; 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 edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.Constants.DriveConstants; import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.FalconTesterConstants;
import frc4388.robot.Constants.LEDConstants; 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 * Defines and holds all I/O objects on the Roborio. This is useful for unit
@@ -26,7 +27,7 @@ public class RobotMap {
public RobotMap() { public RobotMap() {
configureLEDMotorControllers(); configureLEDMotorControllers();
configureDriveMotorControllers(); configureFalconTestMotorControllers();
} }
/* LED Subsystem */ /* LED Subsystem */
@@ -36,36 +37,9 @@ public class RobotMap {
} }
/* Drive Subsystem */ public final WPI_TalonFX falconTestMotor = new WPI_TalonFX(FalconTesterConstants.CAN_ID);
public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID); void configureFalconTestMotorControllers() {
public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID); falconTestMotor.configFactoryDefault();
public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID); falconTestMotor.setNeutralMode(NeutralMode.Brake);
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);
} }
} }