Large changes #1
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DO NOT REVERT TO THIS VERSION!!!!
| @@ -24,18 +24,18 @@ public class ElevatorIOTalonFX implements ElevatorIO { | |||
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| public ElevatorIOTalonFX(int lead, int follow) { | |||
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These should probably be labeled as leadCANID or leadID so it's clear that we're passing an id, not an object
| @@ -24,18 +24,18 @@ public class ElevatorIOTalonFX implements ElevatorIO { | |||
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| public ElevatorIOTalonFX(int lead, int follow) { | |||
| TalonFXConfiguration config = new TalonFXConfiguration(); | |||
| config.CurrentLimits.StatorCurrentLimit = Constants.ElevatorConstants.CURRENT_LIMIT; | |||
| config.CurrentLimits.StatorCurrentLimit = physicalConstants.ElevatorConstants.CURRENT_LIMIT; | |||
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edit this to say stator current limit
| @@ -58,16 +58,16 @@ public class RobotContainer { | |||
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| /** The container for the robot. Contains subsystems, OI devices, and commands. */ | |||
| public RobotContainer() { | |||
| switch (Constants.currentMode) { | |||
| switch (physicalConstants.currentMode) { | |||
| case REAL: | |||
| // Real robot, instantiate hardware IO implementations | |||
| drive = | |||
| new Drive( | |||
| new GyroIOPigeon2(false), | |||
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this boolean appears to not be used.
| flywheel = new Flywheel(new FlywheelIOSparkMax()); | ||
| // drive = new Drive( | ||
| // new GyroIOPigeon2(true), |
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lets assume we're using phoenix for pretty much everything
| new ModuleIOTalonFX(0), | ||
| new ModuleIOTalonFX(1), | ||
| new ModuleIOTalonFX(2), | ||
| new ModuleIOTalonFX(3)); | ||
| flywheel = new Flywheel(new FlywheelIOSparkMax()); | ||
| // drive = new Drive( |
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This commented code should probably be removed
| new ModuleIOTalonFX(0), | ||
| new ModuleIOTalonFX(1), | ||
| new ModuleIOTalonFX(2), | ||
| new ModuleIOTalonFX(3)); | ||
| flywheel = new Flywheel(new FlywheelIOSparkMax()); |
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you might want to add an example instantiation of each subsystem type here.
| public static final String CANBUS = "CAN Bus 2"; | ||
| public static final double LOOP_PERIOD_SECS = 0.02; | ||
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| public static final String LL_ALIGN = "limelight-align"; |
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In our project template planning document we discussed addresses like this and the name of the canbus going in robot map
Split Vision and Drive
Modified all vars along the subsystem files
Imported a lot of utils
Much more..