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Add best guess base robot code

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Remove unused items
This commit is contained in:
nathanrsxtn
2022-04-26 14:55:02 -06:00
parent 7fd43e1cbb
commit 71bf718023
40 changed files with 845 additions and 1912 deletions
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src/main/java/frc4388/robot/RobotMap.java
+36 -48
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@@ -7,65 +7,53 @@
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 static frc4388.robot.Constants.DriveConstants.*;
import static frc4388.robot.Constants.HornConstants.*;
import static frc4388.robot.Constants.ShooterConstants.*;
import edu.wpi.first.wpilibj.Spark;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.LEDConstants;
import frc4388.utility.RobotGyro;
/**
* Defines and holds all I/O objects on the Roborio. This is useful for unit
* testing and modularization.
* Defines and holds all I/O objects on the Roborio. This is useful for unit testing and
* modularization.
*/
public class RobotMap {
public RobotMap() {
configureLEDMotorControllers();
configureDriveMotorControllers();
}
public RobotMap() {
configureDriveMotorControllers();
}
/* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
/* 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);
void configureLEDMotorControllers() {
}
void configureDriveMotorControllers() {
/* factory default values */
driveLeftMotor.configFactoryDefault();
driveRightMotor.configFactoryDefault();
/* Drive Subsystem */
public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_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 RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID));
/* set neutral mode */
driveLeftMotor.setNeutralMode(NeutralMode.Brake);
driveRightMotor.setNeutralMode(NeutralMode.Brake);
}
void configureDriveMotorControllers() {
/* Horn subsystem */
public final Solenoid hornSolenoid = new Solenoid(PneumaticsModuleType.REVPH, HORN_SOLENOID_ID);
/* factory default values */
leftFrontMotor.configFactoryDefault();
rightFrontMotor.configFactoryDefault();
leftBackMotor.configFactoryDefault();
rightBackMotor.configFactoryDefault();
/* 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);
public final Solenoid shooterLowerRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHTER_SOLENOID_ID);
public final Solenoid shooterUpperLefterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFTER_SOLENOID_ID);
public final Solenoid shooterUpperLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFT_SOLENOID_ID);
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);
/* set back motors as followers */
leftBackMotor.follow(leftFrontMotor);
rightBackMotor.follow(rightFrontMotor);
/* set neutral mode */
leftFrontMotor.setNeutralMode(NeutralMode.Brake);
rightFrontMotor.setNeutralMode(NeutralMode.Brake);
leftFrontMotor.setNeutralMode(NeutralMode.Brake);
rightFrontMotor.setNeutralMode(NeutralMode.Brake);
/* flip input so forward becomes back, etc */
leftFrontMotor.setInverted(false);
rightFrontMotor.setInverted(false);
leftBackMotor.setInverted(InvertType.FollowMaster);
rightBackMotor.setInverted(InvertType.FollowMaster);
}
}