Setup Motors and Controllers

src/main/java/frc4388/robot/OI.java

@@ -7,6 +7,10 @@
 
 package frc4388.robot;
 
+import edu.wpi.first.wpilibj.Joystick;
+import frc4388.utility.controller.IHandController;
+import frc4388.utility.controller.XboxController;
+
 /**
  * This class is the glue that binds the controls on the physical operator
  * interface to the commands and command groups that allow control of the robot.
@@ -39,4 +43,35 @@ public class OI {
   // Start the command when the button is released and let it run the command
   // until it is finished as determined by it's isFinished method.
   // button.whenReleased(new ExampleCommand());
+
+  private static OI instance;
+  
+  private static XboxController m_driverXbox;
+  private static XboxController m_operatorXbox;
+
+  public OI() {
+    m_driverXbox = new XboxController(RobotMap.XBOX_DRIVER_ID);
+    m_operatorXbox = new XboxController(RobotMap.XBOX_OPERATOR_ID);
+  }
+
+  public static OI getInstance() {
+    if(instance == null) {
+      instance = new OI();
+    }
+    return instance;
+  }
+
+  public IHandController getDriverController() {
+    return m_driverXbox;
+  }
+
+  public IHandController getOperatorController()
+  {
+    return m_operatorXbox;
+  }
+
+  public Joystick getOperatorJoystick()
+  {
+    return m_operatorXbox.getJoyStick();
+  }
 }

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

@@ -7,6 +7,8 @@
 
 package frc4388.robot;
 
+import frc4388.utility.controller.XboxController;
+
 /**
  * The RobotMap is a mapping from the ports sensors and actuators are wired into
  * to a variable name. This provides flexibility changing wiring, makes checking
@@ -24,5 +26,16 @@ public class RobotMap {
   // public static int rangefinderPort = 1;
   // public static int rangefinderModule = 1;
 
+  /* Xbox Controllers */
+  public static final int XBOX_DRIVER_ID = 0;
+  public static final int XBOX_OPERATOR_ID = 1;
+
+  /* Blinkin LED Strip */
   public static final int LED_SPARK_ID = 0;
+
+  /* Drive Train */
+  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;
 }

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

@@ -7,7 +7,18 @@
 
 package frc4388.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.Faults;
+import com.ctre.phoenix.motorcontrol.InvertType;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import frc4388.robot.RobotMap;
+import frc4388.robot.Robot;
+import frc4388.utility.controller.XboxController;
 
 /**
  * Add your docs here.
@@ -16,6 +27,41 @@ public class Drive extends Subsystem {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
 
+  WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_FRONT_CAN_ID);
+  WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_FRONT_CAN_ID);
+  WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_BACK_CAN_ID);
+  WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_BACK_CAN_ID);
+
+  DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
+
+  public Drive(){
+    /* factory default values */
+    m_leftFrontMotor.configFactoryDefault();
+    m_rightFrontMotor.configFactoryDefault();
+    m_leftBackMotor.configFactoryDefault();
+    m_rightBackMotor.configFactoryDefault();
+
+    /* set back motors as followers */
+    m_leftBackMotor.follow(m_leftFrontMotor);
+    m_rightBackMotor.follow(m_rightFrontMotor);
+
+    /* set neutral mode */
+    m_leftFrontMotor.setNeutralMode(NeutralMode.Brake);
+    m_rightFrontMotor.setNeutralMode(NeutralMode.Brake);
+    m_leftFrontMotor.setNeutralMode(NeutralMode.Brake);
+    m_rightFrontMotor.setNeutralMode(NeutralMode.Brake);
+
+    /* flip input so forward becomes back, etc */
+    m_leftFrontMotor.setInverted(false);
+    m_rightFrontMotor.setInverted(false);
+    m_leftBackMotor.setInverted(InvertType.FollowMaster);
+    m_rightBackMotor.setInverted(InvertType.FollowMaster);
+  }
+
+  @Override
+  public void periodic() {
+  }
+
   @Override
   public void initDefaultCommand() {
     // Set the default command for a subsystem here.