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Add follower drive motors

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Change bindings to one button per tube
Add LiveWindow setup
This commit is contained in:
nathanrsxtn
2022-04-28 01:04:35 -06:00
parent 71bf718023
commit 65cf0dd3a3
10 changed files with 100 additions and 260 deletions
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src/main/java/frc4388/robot/RobotMap.java
+40 -13
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@@ -14,39 +14,49 @@ import static frc4388.robot.Constants.ShooterConstants.*;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* Defines and holds all I/O objects on the Roborio. This is useful for unit testing and
* Defines and holds all I/O objects on the roboRIO. This is useful for unit testing and
* modularization.
*/
public class RobotMap {
public RobotMap() {
configureDriveMotorControllers();
configureLiveWindow();
}
/* Drive Subsystem */
public final WPI_TalonSRX driveLeftMotor = new WPI_TalonSRX(DRIVE_LEFT_CAN_ID);
public final WPI_TalonSRX driveRightMotor = new WPI_TalonSRX(DRIVE_RIGHT_CAN_ID);
public final DifferentialDrive driveBase = new DifferentialDrive(driveLeftMotor, driveRightMotor);
public final WPI_TalonSRX driveLeftLeaderMotor = new WPI_TalonSRX(DRIVE_LEFT_LEADER_CAN_ID);
public final WPI_TalonSRX driveRightLeaderMotor = new WPI_TalonSRX(DRIVE_RIGHT_LEADER_CAN_ID);
public final WPI_TalonSRX driveLeftFollowerMotor = new WPI_TalonSRX(DRIVE_LEFT_FOLLOWER_CAN_ID);
public final WPI_TalonSRX driveRightFollowerMotor = new WPI_TalonSRX(DRIVE_RIGHT_FOLLOWER_CAN_ID);
void configureDriveMotorControllers() {
/* factory default values */
driveLeftMotor.configFactoryDefault();
driveRightMotor.configFactoryDefault();
public final DifferentialDrive driveBase = new DifferentialDrive(driveLeftLeaderMotor, driveRightLeaderMotor);
/* set neutral mode */
driveLeftMotor.setNeutralMode(NeutralMode.Brake);
driveRightMotor.setNeutralMode(NeutralMode.Brake);
private void configureDriveMotorControllers() {
driveLeftLeaderMotor.configFactoryDefault();
driveRightLeaderMotor.configFactoryDefault();
driveLeftFollowerMotor.configFactoryDefault();
driveRightFollowerMotor.configFactoryDefault();
driveLeftLeaderMotor.setNeutralMode(NeutralMode.Brake);
driveRightLeaderMotor.setNeutralMode(NeutralMode.Brake);
driveLeftFollowerMotor.setNeutralMode(NeutralMode.Brake);
driveRightFollowerMotor.setNeutralMode(NeutralMode.Brake);
driveLeftFollowerMotor.follow(driveLeftLeaderMotor);
driveRightFollowerMotor.follow(driveRightLeaderMotor);
}
/* Horn subsystem */
/* Horn Subsystem */
public final Solenoid hornSolenoid = new Solenoid(PneumaticsModuleType.REVPH, HORN_SOLENOID_ID);
/* Shooter subsystem */
/* Shooter Subsystem */
public final Solenoid shooterLowerLefterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_LEFTER_SOLENOID_ID);
public final Solenoid shooterLowerLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_LEFT_SOLENOID_ID);
public final Solenoid shooterLowerRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHT_SOLENOID_ID);
@@ -56,4 +66,21 @@ public class RobotMap {
public final Solenoid shooterUpperRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHT_SOLENOID_ID);
public final Solenoid shooterUpperRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHTER_SOLENOID_ID);
private void configureLiveWindow() {
SendableRegistry.setName(driveLeftFollowerMotor, "Drive", "Left Follower Motor");
SendableRegistry.setName(driveRightFollowerMotor, "Drive", "Right Follower Motor");
SendableRegistry.setName(driveBase, "Drive", "Drive Base");
SendableRegistry.setName(hornSolenoid, "Horn", "Solenoid");
SendableRegistry.setName(shooterLowerLefterSolenoid, "Shooter", "Lower Lefter Solenoid");
SendableRegistry.setName(shooterLowerLeftSolenoid, "Shooter", "Lower Left Solenoid");
SendableRegistry.setName(shooterLowerRightSolenoid, "Shooter", "Lower Right Solenoid");
SendableRegistry.setName(shooterLowerRighterSolenoid, "Shooter", "Lower Righter Solenoid");
SendableRegistry.setName(shooterUpperLefterSolenoid, "Shooter", "Upper Lefter Solenoid");
SendableRegistry.setName(shooterUpperLeftSolenoid, "Shooter", "Upper Left Solenoid");
SendableRegistry.setName(shooterUpperRightSolenoid, "Shooter", "Upper Right Solenoid");
SendableRegistry.setName(shooterUpperRighterSolenoid, "Shooter", "Upper Righter Solenoid");
}
}