Create RobotMap to decouple Subsystems from their hardware.

With the hardware objects decoupled from the subsystems, we can then pass mock hardware into these subsystems to run simulations/tests on.
2026-06-09 00:38:01 -06:00 · 2020-03-28 21:27:15 -06:00
parent 2e0330cab5
commit 850f503889
4 changed files with 131 additions and 75 deletions
@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* 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.phoenix.motorcontrol.InvertType;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+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;
+
+/**
+ * Defines and holds all I/O objects on the Roborio. This is useful for unit
+ * testing and modularization.
+ */
+public class RobotMap {
+
+    public RobotMap() {
+        configureLEDSubsystem();
+        configureDriveSubsystem();
+    }
+
+    /* LED Subsystem */
+    public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
+
+    void configureLEDSubsystem() {
+        
+    }
+
+    /* 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 DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
+    public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID));
+
+    void configureDriveSubsystem() {
+
+        /* 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);
+    }
+}