Team4388/Swerve-Drive
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Bug fixes

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This commit is contained in:
aarav18
2021-12-16 16:22:36 -07:00
parent 15c7b2da19
commit 6c99069847
4 changed files with 37 additions and 37 deletions
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src/main/java/frc4388/robot/RobotMap.java
+14 -14
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@@ -30,7 +30,7 @@ public class RobotMap {
public RobotMap() {
configureLEDMotorControllers();
configureArcadeDriveMotorControllers();
//configureArcadeDriveMotorControllers();
configureSwerveMotorControllers();
}
@@ -40,39 +40,39 @@ public class RobotMap {
void configureLEDMotorControllers() {
}
/* ArcadeDrive Subsystem */
public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID));
//public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
//public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
//public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_BACK_CAN_ID);
//public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
//public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
//public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID));
void configureArcadeDriveMotorControllers() {
/*void configureArcadeDriveMotorControllers() {
/* factory default values */
// factory default values
leftFrontMotor.configFactoryDefault();
rightFrontMotor.configFactoryDefault();
leftBackMotor.configFactoryDefault();
rightBackMotor.configFactoryDefault();
/* set back motors as followers */
// set back motors as followers
leftBackMotor.follow(leftFrontMotor);
rightBackMotor.follow(rightFrontMotor);
/* set neutral mode */
// 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 */
// flip input so forward becomes back, etc
leftFrontMotor.setInverted(false);
rightFrontMotor.setInverted(false);
leftBackMotor.setInverted(InvertType.FollowMaster);
rightBackMotor.setInverted(InvertType.FollowMaster);
}
}*/
/* Swerve Subsystem */
public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);