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Switch from TalonSRX to TalonFx Drive Train

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This commit is contained in:
Keenan D. Buckley
2020-04-12 13:07:09 -06:00
parent 87dc4a14c2
commit 69f14a5701
2 changed files with 12 additions and 12 deletions
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src/main/java/frc4388/robot/RobotMap.java
+5 -5
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@@ -9,7 +9,7 @@ package frc4388.robot;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU;
import edu.wpi.first.wpilibj.Spark;
@@ -37,10 +37,10 @@ public class RobotMap {
}
/* Drive Subsystem */
public final WPI_TalonSRX leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
public final WPI_TalonSRX rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
public final WPI_TalonSRX leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public final WPI_TalonSRX rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
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));
src/main/java/frc4388/robot/subsystems/Drive.java
+7 -7
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@@ -7,7 +7,7 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -26,18 +26,18 @@ public class Drive extends SubsystemBase {
private RobotTime m_robotTime = RobotTime.getInstance();
private WPI_TalonSRX m_leftFrontMotor;
private WPI_TalonSRX m_rightFrontMotor;
private WPI_TalonSRX m_leftBackMotor;
private WPI_TalonSRX m_rightBackMotor;
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_TalonSRX leftFrontMotor, WPI_TalonSRX rightFrontMotor, WPI_TalonSRX leftBackMotor,
WPI_TalonSRX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
public Drive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
m_leftFrontMotor = leftFrontMotor;
m_rightFrontMotor = rightFrontMotor;