Team4388/Robot-Essentials
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rebase from 2024

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C4llSiqn
2024-10-26 13:26:12 -06:00
parent 9f835cdd4f
commit b1213e7d43
42 changed files with 1637 additions and 681 deletions
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src/main/java/frc4388/robot/RobotMap.java
+37 -12
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@@ -7,14 +7,14 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.Pigeon2;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.Constants.LEDConstants;
// import edu.wpi.first.wpilibj.motorcontrol.Spark;
// import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule;
import frc4388.utility.RobotGyro;
/**
@@ -22,19 +22,44 @@ import frc4388.utility.RobotGyro;
* testing and modularization.
*/
public class RobotMap {
private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON_ID);
public RobotGyro gyro = new RobotGyro(m_pigeon2);
public SwerveModule leftFront;
public SwerveModule rightFront;
public SwerveModule leftBack;
public SwerveModule rightBack;
public RobotMap() {
configureLEDMotorControllers();
configureDriveMotorControllers();
}
/* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
void configureLEDMotorControllers() {
}
/* Swreve Drive Subsystem */
public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
void configureDriveMotorControllers() {
// initialize SwerveModules
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
}
}