Robot-Essentials/src/main/java/frc4388/robot/RobotMap.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 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;

import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.Pigeon2;

// import edu.wpi.first.wpilibj.motorcontrol.Spark;
// import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule;
import frc4388.utility.RobotGyro;

/**
 * Defines and holds all I/O objects on the Roborio. This is useful for unit
 * testing and modularization.
 */
public class RobotMap {
    private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON_ID);
    public RobotGyro gyro = new RobotGyro(m_pigeon2);
    
    public SwerveModule leftFront;
    public SwerveModule rightFront;
    public SwerveModule leftBack;
    public SwerveModule rightBack;

    public RobotMap() {
        configureDriveMotorControllers();
    }

    /* LED Subsystem */
    // public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);

    /* Swreve Drive Subsystem */
    public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
    public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
    public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);


    public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
    public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
    public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
    
    public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
    public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
    public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
    
    public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
    public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
    public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);

    void configureDriveMotorControllers() {
        // initialize SwerveModules
        this.rightFront = new SwerveModule("Right Front Swerve Module", rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
        this.leftFront = new SwerveModule("Left Front Swerve Module", leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
        this.leftBack = new SwerveModule("Left Back Swerve Module", leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
        this.rightBack = new SwerveModule("Right Back Swerve Module", rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
    }
}