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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/subsystems/DiffDrive.java
+10 -7
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@@ -7,7 +7,8 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -26,23 +27,25 @@ public class DiffDrive extends SubsystemBase {
private RobotTime m_robotTime = RobotTime.getInstance();
private WPI_TalonFX m_leftFrontMotor;
private WPI_TalonFX m_rightFrontMotor;
private WPI_TalonFX m_leftBackMotor;
private WPI_TalonFX m_rightBackMotor;
private TalonFX m_leftFrontMotor;
private TalonFX m_rightFrontMotor;
private TalonFX m_leftBackMotor;
private TalonFX m_rightBackMotor;
private DifferentialDrive m_driveTrain;
private RobotGyro m_gyro;
/**
* Add your docs here.
*/
public DiffDrive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
public DiffDrive(TalonFX leftFrontMotor, TalonFX rightFrontMotor, TalonFX leftBackMotor,
TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
m_leftFrontMotor = leftFrontMotor;
m_rightFrontMotor = rightFrontMotor;
m_leftBackMotor = leftBackMotor;
m_rightBackMotor = rightBackMotor;
m_leftBackMotor .setControl(new Follower(m_leftFrontMotor.getDeviceID(), false));
m_rightBackMotor.setControl(new Follower(m_rightBackMotor.getDeviceID(), false));
m_driveTrain = driveTrain;
m_gyro = gyro;
}