From 3b0abebabd1c605394f516cc8940708fd8f77264 Mon Sep 17 00:00:00 2001 From: C4llSqin <83995467+C4llSqin@users.noreply.github.com> Date: Fri, 28 Oct 2022 17:21:14 -0600 Subject: [PATCH] Nuke the drive subsystem --- src/main/java/frc4388/robot/Constants.java | 10 --- .../java/frc4388/robot/RobotContainer.java | 9 -- src/main/java/frc4388/robot/RobotMap.java | 31 ------- .../java/frc4388/robot/subsystems/Drive.java | 85 ------------------- 4 files changed, 135 deletions(-) delete mode 100644 src/main/java/frc4388/robot/subsystems/Drive.java diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index d92d66b..2b03c61 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -18,16 +18,6 @@ import frc4388.utility.LEDPatterns; * constants are needed, to reduce verbosity. */ public final class Constants { - public static final class DriveConstants { - public static final int DRIVE_LEFT_FRONT_CAN_ID = 2; - public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4; - public static final int DRIVE_LEFT_BACK_CAN_ID = 3; - public static final int DRIVE_RIGHT_BACK_CAN_ID = 5; - - public static final int DRIVE_PIGEON_ID = 6; - - public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; - } public static final class LEDConstants { public static final int LED_SPARK_ID = 0; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index b7542bc..99f5cb1 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -13,7 +13,6 @@ import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc4388.robot.Constants.*; -import frc4388.robot.subsystems.Drive; import frc4388.robot.subsystems.LED; import frc4388.utility.LEDPatterns; import frc4388.utility.controller.IHandController; @@ -31,9 +30,6 @@ public class RobotContainer { private final RobotMap m_robotMap = new RobotMap(); /* Subsystems */ - private final Drive m_robotDrive = new Drive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor, - m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive); - private final LED m_robotLED = new LED(m_robotMap.LEDController); /* Controllers */ @@ -48,9 +44,6 @@ public class RobotContainer { /* Default Commands */ // drives the robot with a two-axis input from the driver controller - m_robotDrive.setDefaultCommand( - new RunCommand(() -> m_robotDrive.driveWithInput(getDriverController().getLeftYAxis(), - getDriverController().getRightXAxis()), m_robotDrive)); // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED)); } @@ -64,8 +57,6 @@ public class RobotContainer { private void configureButtonBindings() { /* Driver Buttons */ // test command to spin the robot while pressing A on the driver controller - new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - .whileHeld(() -> m_robotDrive.driveWithInput(0, 1)); /* Operator Buttons */ // activates "Lit Mode" diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 3456b71..cd2ca95 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -36,36 +36,5 @@ 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); - } } diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java deleted file mode 100644 index 9bbdee7..0000000 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ /dev/null @@ -1,85 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* 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.can.WPI_TalonFX; - -import edu.wpi.first.wpilibj.drive.DifferentialDrive; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -import frc4388.robot.Constants.DriveConstants; -import frc4388.utility.RobotGyro; -import frc4388.utility.RobotTime; - -/** - * Add your docs here. - */ -public class Drive extends SubsystemBase { - // Put methods for controlling this subsystem - // here. Call these from Commands. - - private RobotTime m_robotTime = RobotTime.getInstance(); - - private WPI_TalonFX m_leftFrontMotor; - private WPI_TalonFX m_rightFrontMotor; - private WPI_TalonFX m_leftBackMotor; - private WPI_TalonFX m_rightBackMotor; - private DifferentialDrive m_driveTrain; - private RobotGyro m_gyro; - - /** - * Add your docs here. - */ - public Drive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor, - WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) { - - m_leftFrontMotor = leftFrontMotor; - m_rightFrontMotor = rightFrontMotor; - m_leftBackMotor = leftBackMotor; - m_rightBackMotor = rightBackMotor; - m_driveTrain = driveTrain; - m_gyro = gyro; - } - - @Override - public void periodic() { - m_gyro.updatePigeonDeltas(); - - if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) { - updateSmartDashboard(); - } - } - - /** - * Add your docs here. - */ - public void driveWithInput(double move, double steer) { - m_driveTrain.arcadeDrive(move, steer); - } - - /** - * Add your docs here. - */ - public void tankDriveWithInput(double leftMove, double rightMove) { - m_leftFrontMotor.set(leftMove); - m_rightFrontMotor.set(rightMove); - } - - /** - * Add your docs here. - */ - private void updateSmartDashboard() { - - // Examples of the functionality of RobotGyro - SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon); - SmartDashboard.putNumber("Turn Rate", m_gyro.getRate()); - SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch()); - SmartDashboard.putData(m_gyro); - } -}