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Merge pull request #20 from Team4388/falcon-drive

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Switch from TalonSRX to TalonFx Drive Train
This commit is contained in:
Ryan Manley
2020-06-17 16:28:23 -06:00
committed by GitHub
parent 87dc4a14c2 69f14a5701
commit a32c9ff3e9
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.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode; 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 com.ctre.phoenix.sensors.PigeonIMU;
import edu.wpi.first.wpilibj.Spark; import edu.wpi.first.wpilibj.Spark;
@@ -37,10 +37,10 @@ public class RobotMap {
} }
/* Drive Subsystem */ /* Drive Subsystem */
public final WPI_TalonSRX leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID); public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
public final WPI_TalonSRX rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID); public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
public final WPI_TalonSRX leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID); public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public final WPI_TalonSRX rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_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 DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID)); 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; 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.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -26,18 +26,18 @@ public class Drive extends SubsystemBase {
private RobotTime m_robotTime = RobotTime.getInstance(); private RobotTime m_robotTime = RobotTime.getInstance();
private WPI_TalonSRX m_leftFrontMotor; private WPI_TalonFX m_leftFrontMotor;
private WPI_TalonSRX m_rightFrontMotor; private WPI_TalonFX m_rightFrontMotor;
private WPI_TalonSRX m_leftBackMotor; private WPI_TalonFX m_leftBackMotor;
private WPI_TalonSRX m_rightBackMotor; private WPI_TalonFX m_rightBackMotor;
private DifferentialDrive m_driveTrain; private DifferentialDrive m_driveTrain;
private RobotGyro m_gyro; private RobotGyro m_gyro;
/** /**
* Add your docs here. * Add your docs here.
*/ */
public Drive(WPI_TalonSRX leftFrontMotor, WPI_TalonSRX rightFrontMotor, WPI_TalonSRX leftBackMotor, public Drive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
WPI_TalonSRX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) { WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
m_leftFrontMotor = leftFrontMotor; m_leftFrontMotor = leftFrontMotor;
m_rightFrontMotor = rightFrontMotor; m_rightFrontMotor = rightFrontMotor;