Merge branch 'master' into swerve-out-of-control

src/main/java/frc4388/robot/Constants.java

@@ -66,11 +66,6 @@ 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;

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"

src/main/java/frc4388/robot/RobotMap.java

@@ -14,7 +14,6 @@ import com.ctre.phoenix.sensors.PigeonIMU;
 
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.utility.RobotGyro;
 
@@ -36,36 +35,6 @@ 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);
     }
 }

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

@@ -20,7 +20,7 @@ import frc4388.utility.RobotTime;
 /**
  * Add your docs here.
  */
-public class Drive extends SubsystemBase {
+public class DiffDrive extends SubsystemBase {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
 
@@ -36,7 +36,7 @@ public class Drive extends SubsystemBase {
   /**
    * Add your docs here.
    */
-  public Drive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
+  public DiffDrive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
       WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
 
     m_leftFrontMotor = leftFrontMotor;

src/main/java/frc4388/utility/RobotUnits.java

@@ -0,0 +1,27 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.utility;
+
+/** Aarav's good units class (better than WPILib)
+ * @author Aarav Shah */
+
+public class RobotUnits {
+  // constants
+
+  // angle conversions
+  public static double degreesToRadians(final double degrees) {return degrees * Math.PI / 180;}
+
+  public static double radiansToDegrees(final double radians) {return radians / Math.PI * 180;}
+
+  // falcon conversions
+  public static double falconTicksToRotations(final double ticks) {return ticks / 2048;}
+
+  public static double falconRotationsToTicks(final double rotations) {return rotations * 2048;}
+
+  // distance conversions
+  public static double metersToFeet(final double meters) {return meters * 3.28084;}
+
+  public static double feetToMeters(final double feet) {return feet / 3.28084;}
+}