mirror of
https://github.com/Team4388/Shirt-Cannon.git
synced 2026-06-09 00:28:01 -06:00
nathanrsxtn
87 lines
4.6 KiB
Java
87 lines
4.6 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot;
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import static frc4388.robot.Constants.DriveConstants.*;
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import static frc4388.robot.Constants.HornConstants.*;
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import static frc4388.robot.Constants.ShooterConstants.*;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import edu.wpi.first.util.sendable.SendableRegistry;
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import edu.wpi.first.wpilibj.PneumaticsModuleType;
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import edu.wpi.first.wpilibj.Solenoid;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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/**
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* Defines and holds all I/O objects on the roboRIO. This is useful for unit testing and
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* modularization.
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*/
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public class RobotMap {
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public RobotMap() {
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configureDriveMotorControllers();
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configureLiveWindow();
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}
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/* Drive Subsystem */
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public final WPI_TalonSRX driveMotorLeftLeader = new WPI_TalonSRX(DRIVE_LEFT_LEADER_ID);
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public final WPI_TalonSRX driveMotorRightLeader = new WPI_TalonSRX(DRIVE_RIGHT_LEADER_ID);
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public final WPI_TalonSRX driveMotorLeftFollower = new WPI_TalonSRX(DRIVE_LEFT_FOLLOWER_ID);
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public final WPI_TalonSRX driveMotorRightFollower = new WPI_TalonSRX(DRIVE_RIGHT_FOLLOWER_ID);
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public final DifferentialDrive driveBase = new DifferentialDrive(driveMotorLeftLeader, driveMotorRightLeader);
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private void configureDriveMotorControllers() {
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driveMotorLeftLeader.configFactoryDefault();
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driveMotorRightLeader.configFactoryDefault();
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driveMotorLeftFollower.configFactoryDefault();
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driveMotorRightFollower.configFactoryDefault();
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driveMotorLeftLeader.setNeutralMode(NeutralMode.Brake);
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driveMotorRightLeader.setNeutralMode(NeutralMode.Brake);
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driveMotorLeftFollower.setNeutralMode(NeutralMode.Brake);
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driveMotorRightFollower.setNeutralMode(NeutralMode.Brake);
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driveMotorLeftFollower.follow(driveMotorLeftLeader);
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driveMotorRightFollower.follow(driveMotorRightLeader);
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}
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/* Horn Subsystem */
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public final Solenoid hornSolenoid = new Solenoid(PneumaticsModuleType.REVPH, HORN_SOLENOID_ID);
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/* Shooter Subsystem */
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public final Solenoid shooterSolenoidBottomLeftOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_LEFT_OUTER_ID);
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public final Solenoid shooterSolenoidBottomLeftInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_LEFT_INNER_ID);
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public final Solenoid shooterSolenoidBottomRightInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_RIGHT_INNER_ID);
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public final Solenoid shooterSolenoidBottomRightOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_RIGHT_OUTER_ID);
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public final Solenoid shooterSolenoidTopLeftOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_LEFT_OUTER_ID);
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public final Solenoid shooterSolenoidTopLeftInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_LEFT_INNER_ID);
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public final Solenoid shooterSolenoidTopRightInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_RIGHT_INNER_ID);
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public final Solenoid shooterSolenoidTopRightOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_RIGHT_OUTER_ID);
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private void configureLiveWindow() {
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SendableRegistry.setName(driveMotorLeftFollower, "Drive", "Motor Left Follower");
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SendableRegistry.setName(driveMotorRightFollower, "Drive", "Motor Right Follower");
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SendableRegistry.setName(driveBase, "Drive", "Base");
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SendableRegistry.setName(hornSolenoid, "Horn", "Solenoid");
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SendableRegistry.setName(shooterSolenoidBottomLeftOuter, "Shooter", "Solenoid Bottom Left Outer");
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SendableRegistry.setName(shooterSolenoidBottomLeftInner, "Shooter", "Solenoid Bottom Left Inner");
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SendableRegistry.setName(shooterSolenoidBottomRightInner, "Shooter", "Solenoid Bottom Right Inner");
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SendableRegistry.setName(shooterSolenoidBottomRightOuter, "Shooter", "Solenoid Bottom Right Outer");
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SendableRegistry.setName(shooterSolenoidTopLeftOuter, "Shooter", "Solenoid Top Left Outer");
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SendableRegistry.setName(shooterSolenoidTopLeftInner, "Shooter", "Solenoid Top Left Inner");
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SendableRegistry.setName(shooterSolenoidTopRightInner, "Shooter", "Solenoid Top Right Inner");
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SendableRegistry.setName(shooterSolenoidTopRightOuter, "Shooter", "Solenoid Top Right Outer");
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}
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}
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