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Implement Drive Code

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HFocus
2019-08-07 19:20:10 -06:00
parent 7a19b683f6
commit c9da9d8585
3 changed files with 15 additions and 6 deletions
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build.gradle
+1 -1
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@@ -3,7 +3,7 @@ plugins {
id "edu.wpi.first.GradleRIO" version "2019.1.1" id "edu.wpi.first.GradleRIO" version "2019.1.1"
} }
def ROBOT_MAIN_CLASS = "frc.robot.Main" def ROBOT_MAIN_CLASS = "frc4388.robot.Main"
// Define my targets (RoboRIO) and artifacts (deployable files) // Define my targets (RoboRIO) and artifacts (deployable files)
// This is added by GradleRIO's backing project EmbeddedTools. // This is added by GradleRIO's backing project EmbeddedTools.
src/main/java/frc4388/robot/Robot.java
+2
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@@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.robot.commands.ExampleCommand; import frc4388.robot.commands.ExampleCommand;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.ExampleSubsystem; import frc4388.robot.subsystems.ExampleSubsystem;
import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.LED;
import frc4388.utility.controller.XboxController; import frc4388.utility.controller.XboxController;
@@ -27,6 +28,7 @@ import frc4388.utility.controller.XboxController;
public class Robot extends TimedRobot { public class Robot extends TimedRobot {
public static ExampleSubsystem m_subsystem = new ExampleSubsystem(); public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
public static LED m_led = new LED(); public static LED m_led = new LED();
public static Drive m_Drive = new Drive();
public static OI m_oi; public static OI m_oi;
Command m_autonomousCommand; Command m_autonomousCommand;
src/main/java/frc4388/robot/subsystems/Drive.java
+12 -5
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@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.command.Subsystem; import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.RobotMap; import frc4388.robot.RobotMap;
import frc4388.robot.OI;
import frc4388.robot.Robot; import frc4388.robot.Robot;
import frc4388.utility.controller.XboxController; import frc4388.utility.controller.XboxController;
@@ -27,12 +28,14 @@ public class Drive extends Subsystem {
// Put methods for controlling this subsystem // Put methods for controlling this subsystem
// here. Call these from Commands. // here. Call these from Commands.
WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_FRONT_CAN_ID); public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_FRONT_CAN_ID);
WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_FRONT_CAN_ID); public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_FRONT_CAN_ID);
WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_BACK_CAN_ID); public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_BACK_CAN_ID);
WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_BACK_CAN_ID); public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_BACK_CAN_ID);
DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor); public static DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
private static double m_inputMove, m_inputSteer;
public Drive(){ public Drive(){
/* factory default values */ /* factory default values */
@@ -60,6 +63,10 @@ public class Drive extends Subsystem {
@Override @Override
public void periodic() { public void periodic() {
m_inputMove = OI.getInstance().getDriverController().getLeftYAxis();
m_inputSteer = -(OI.getInstance().getDriverController().getRightXAxis());
m_driveTrain.arcadeDrive(m_inputMove, m_inputSteer);
} }
@Override @Override