Team4388/Swerve-Drive
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Basic swerve stuff

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Also separated arcade from swerve everywhere in the code.
This commit is contained in:
aarav18
2021-11-15 17:52:28 -07:00
parent 0bc2442ec1
commit a3d2b5f029
8 changed files with 58 additions and 36 deletions
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src/main/java/frc4388/robot/RobotMap.java
+9 -9
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@@ -14,7 +14,7 @@ import com.ctre.phoenix.sensors.PigeonIMU;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.ArcadeDriveConstants;
import frc4388.robot.Constants.LEDConstants;
import frc4388.utility.RobotGyro;
@@ -26,7 +26,7 @@ public class RobotMap {
public RobotMap() {
configureLEDMotorControllers();
configureDriveMotorControllers();
configureArcadeDriveMotorControllers();
}
/* LED Subsystem */
@@ -36,15 +36,15 @@ public class RobotMap {
}
/* 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);
/* 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(DriveConstants.DRIVE_PIGEON_ID));
public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID));
void configureDriveMotorControllers() {
void configureArcadeDriveMotorControllers() {
/* factory default values */
leftFrontMotor.configFactoryDefault();