-
Notifications
You must be signed in to change notification settings - Fork 0
/
DriveTrain.java
67 lines (55 loc) · 2.59 KB
/
DriveTrain.java
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc.robot.subsystems;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
public class DriveSubsystem extends SubsystemBase {
/**
* Class variables for storing data and objects that this subsystem needs to
* operate.
*
* These variables are declared private to this class, because no other object
* should need direct access to these objects. Any changes or commands to the
* drivetrain should come through public methods like the tankDrive() function.
*/
private CANSparkMax left1NEO;
private CANSparkMax right1NEO;
private CANSparkMax left2NEO;
private CANSparkMax right2NEO;
private MotorController leftSide;
private MotorController rightSide;
private DifferentialDrive drive;
public DriveSubsystem() {
left1NEO = new CANSparkMax(Constants.DriveConstants.LEFT1_NEO_CANID, MotorType.kBrushless);
right1NEO = new CANSparkMax(Constants.DriveConstants.RIGHT1_NEO_CANID, MotorType.kBrushless);
right2NEO = new CANSparkMax(Constants.DriveConstants.RIGHT2_NEO_CANID, MotorType.kBrushless);
left1NEO = new CANSparkMax(Constants.DriveConstants.LEFT2_NEO_CANID, MotorType.kBrushless);
// set all NEOs to factory defaults
leftNEO.restoreFactoryDefaults();
rightNEO.restoreFactoryDefaults();
// assign each motor to a MotorControllerGroup
leftSide = new MotorControllerGroup(left1NEO, left2NEO);
rightSide = new MotorControllerGroup(right1NEO, right2NEO);
// create our DifferentialDrive class
drive = new DifferentialDrive(leftSide, rightSide);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
public void arcadeDrive(double xSpeed, double zRotation) {
drive.arcadeDrive(xSpeed, zRotation);
}
public void tankDrive(double leftSpeed, double rightSpeed) {
drive.tankDrive(leftSpeed, rightSpeed);
}
}