Team4388/Swerve-Drive
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motors/motor ids

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This commit is contained in:
Abhishrek05
2021-11-29 17:18:31 -07:00
parent a3d2b5f029
commit 1f51cc41cc
3 changed files with 39 additions and 3 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+21 -2
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@@ -7,6 +7,8 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
@@ -17,9 +19,25 @@ import frc4388.robot.Constants.SwerveDriveConstants;
public class SwerveDrive
{
SwerveDriveKinematics m_kinematics;
public SwerveDrive()
private WPI_TalonFX m_leftFrontSteerMotor;
private WPI_TalonFX m_leftFrontWheelMotor;
private WPI_TalonFX m_rightFrontSteerMotor;
private WPI_TalonFX m_rightFrontWheelMotor;
private WPI_TalonFX m_leftBackSteerMotor;
private WPI_TalonFX m_leftBackWheelMotor;
private WPI_TalonFX m_rightBackSteerMotor;
private WPI_TalonFX m_rightBackWheelMotor;
public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor,
WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor)
{
m_leftFrontSteerMotor = leftFrontSteerMotor;
m_leftFrontWheelMotor = leftFrontWheelMotor;
m_rightFrontSteerMotor = rightFrontSteerMotor;
m_rightFrontWheelMotor = rightFrontWheelMotor;
m_leftBackSteerMotor = leftBackSteerMotor;
m_leftBackWheelMotor = leftBackWheelMotor;
m_rightBackSteerMotor = rightBackSteerMotor;
m_rightBackWheelMotor = rightBackWheelMotor;
double halfWidth = SwerveDriveConstants.WIDTH / 2.d;
double halfHeight = SwerveDriveConstants.HEIGHT / 2.d;
@@ -49,6 +67,7 @@ public class SwerveDrive
// Back right module state
SwerveModuleState backRight = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(/*get encoder positions*/));
}
// public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)