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.

src/main/java/frc4388/robot/RobotContainer.java

@@ -27,9 +27,14 @@ import frc4388.utility.controller.XboxController;
  * commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
+    /* RobotMap */
+    private final RobotMap m_robotMap = new RobotMap();
+
     /* Subsystems */
-    private final Drive m_robotDrive = new Drive();
+    private final Drive m_robotDrive = new Drive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
-    private final LED m_robotLED = new LED();
+            m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.gyroDrive);
+
+    private final LED m_robotLED = new LED(m_robotMap.LEDController);
 
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -43,18 +48,18 @@ 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(
+        m_robotDrive.setDefaultCommand(
-            getDriverController().getLeftYAxis(),
+                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));
     }
 
     /**
-    * Use this method to define your button->command mappings.  Buttons can be created by
+     * Use this method to define your button->command mappings. Buttons can be
-    * instantiating a {@link GenericHID} or one of its subclasses ({@link
+     * created by instantiating a {@link GenericHID} or one of its subclasses
-    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
+     * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
-    * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+     * passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
      */
     private void configureButtonBindings() {
         /* Driver Buttons */
@@ -89,24 +94,21 @@ public class RobotContainer {
     /**
      * Add your docs here.
      */
-    public IHandController getOperatorController()
+    public IHandController getOperatorController() {
-    {
         return m_operatorXbox;
     }
 
     /**
      * Add your docs here.
      */
-    public Joystick getOperatorJoystick()
+    public Joystick getOperatorJoystick() {
-    {
         return m_operatorXbox.getJoyStick();
     }
 
     /**
      * Add your docs here.
      */
-    public Joystick getDriverJoystick()
+    public Joystick getDriverJoystick() {
-    {
         return m_driverXbox.getJoyStick();
     }
 }

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

@@ -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);
+    }
+}

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

@@ -7,10 +7,7 @@
 
 package frc4388.robot.subsystems;
 
-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.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -27,38 +24,25 @@ public class Drive extends SubsystemBase {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
 
-  private WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
+  private WPI_TalonSRX m_leftFrontMotor;
-  private WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
+  private WPI_TalonSRX m_rightFrontMotor;
-  private WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
+  private WPI_TalonSRX m_leftBackMotor;
-  private WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
+  private WPI_TalonSRX m_rightBackMotor;
-  private DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
+  private DifferentialDrive m_driveTrain;
-  private RobotGyro m_gyro = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID));
+  private RobotGyro m_gyro;
 
   /**
    * Add your docs here.
    */
-  public Drive(){
+  public Drive(WPI_TalonSRX leftFrontMotor, WPI_TalonSRX rightFrontMotor, WPI_TalonSRX leftBackMotor,
-    /* factory default values */
+      WPI_TalonSRX rightBackMotor, RobotGyro gyro) {
-    m_leftFrontMotor.configFactoryDefault();
-    m_rightFrontMotor.configFactoryDefault();
-    m_leftBackMotor.configFactoryDefault();
-    m_rightBackMotor.configFactoryDefault();
 
-    /* set back motors as followers */
+    m_leftFrontMotor = leftFrontMotor;
-    m_leftBackMotor.follow(m_leftFrontMotor);
+    m_rightFrontMotor = rightFrontMotor;
-    m_rightBackMotor.follow(m_rightFrontMotor);
+    m_leftBackMotor = leftBackMotor;
-
+    m_rightBackMotor = rightBackMotor;
-    /* set neutral mode */
+    m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
-    m_leftFrontMotor.setNeutralMode(NeutralMode.Brake);
+    m_gyro = gyro;
-    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
@@ -73,20 +57,19 @@ public class Drive extends SubsystemBase {
   /**
    * Add your docs here.
    */
-  public void driveWithInput(double move, double steer){
+  public void driveWithInput(double move, double steer) {
     m_driveTrain.arcadeDrive(move, steer);
   }
 
-  public RobotGyro getRobotGyro(){
+  /**
-    return m_gyro;
+   * Add your docs here.
-  }
+   */
-
   private void updateSmartDashboard() {
 
     // Examples of the functionality of RobotGyro
-    SmartDashboard.putBoolean("Is Gyro a Pigeon?", getRobotGyro().m_isGyroAPigeon);
+    SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
-    SmartDashboard.putNumber("Turn Rate", getRobotGyro().getRate());
+    SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
-    SmartDashboard.putNumber("Gyro Pitch", getRobotGyro().getPitch());
+    SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
-    SmartDashboard.putData(getRobotGyro());
+    SmartDashboard.putData(m_gyro);
   }
 }

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

@@ -20,36 +20,36 @@ import frc4388.utility.LEDPatterns;
  */
 public class LED extends SubsystemBase {
 
-  private float currentLED;
+  private float m_currentLED;
-  private Spark LEDController;
+  private Spark m_LEDController;
 
   /**
    * Add your docs here.
    */
-  public LED(){
+  public LED(Spark LEDController){
-    LEDController = new Spark(LEDConstants.LED_SPARK_ID);
+    m_LEDController = LEDController;
     setPattern(LEDConstants.DEFAULT_PATTERN);
-    LEDController.set(currentLED);
+    m_LEDController.set(m_currentLED);
     System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
   }
 
+  @Override
+  public void periodic(){
+    SmartDashboard.putNumber("LED", m_currentLED);
+  }
+
   /**
    * Add your docs here.
    */
   public void updateLED(){
-    LEDController.set(currentLED);
+    m_LEDController.set(m_currentLED);
   }
 
   /**
    * Add your docs here.
    */
   public void setPattern(LEDPatterns pattern){
-    currentLED = pattern.getValue();
+    m_currentLED = pattern.getValue();
-    LEDController.set(currentLED);
+    m_LEDController.set(m_currentLED);
-  }
-
-  @Override
-  public void periodic(){
-    SmartDashboard.putNumber("LED", currentLED);
   }
 }