46 lines
1.4 KiB
Java
46 lines
1.4 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import com.kauailabs.navx.frc.AHRS;
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import edu.wpi.first.wpilibj.drive.MecanumDrive;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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public class BasePilotable extends SubsystemBase {
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private WPI_TalonSRX avantGauche = new WPI_TalonSRX(Constants.MoteurAvantGauche);
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private WPI_TalonSRX avantDroit = new WPI_TalonSRX(Constants.MoteurAvantDroit);
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private WPI_TalonSRX arriereGauche = new WPI_TalonSRX(Constants.MoteurArriereGauche);
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private WPI_TalonSRX arriereDroit = new WPI_TalonSRX(Constants.MoteurArriereDroit);
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private MecanumDrive mecanum = new MecanumDrive(avantGauche, arriereGauche, avantDroit, arriereDroit);
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private AHRS gyroscope = new AHRS();
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public double getangle() {
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return gyroscope.getAngle();
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}
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public void drive(double y, double x, double rot){
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mecanum.driveCartesian(y, x, rot, getangle());
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}
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/** Creates a new BasePilotable. */
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public BasePilotable() {
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avantDroit.setInverted(true);
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arriereDroit.setInverted(true);
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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}
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}
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