PLS5618/betabot-2024
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Merge branch 'master' of https://git.demerso.net/pls5618/2024/betabot-2024

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This commit is contained in:
Olivier Dubois
2023-12-05 19:14:54 -05:00
parent c214822ac6 c28530ea50
commit 446e6f820f
10 changed files with 155 additions and 174 deletions
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21
src/main/java/frc/robot/subsystems/Drive.java
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@@ -14,9 +14,18 @@ import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import swervelib.SwerveDrive;
import swervelib.encoders.CanAndCoderSwerve;
import swervelib.parser.SwerveParser;
public class Drive extends SubsystemBase {
@@ -31,7 +40,14 @@ public class Drive extends SubsystemBase {
.withPosition(3,0);
SwerveDrive swerveDrive;
File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
/* final CanAndCoderSwerve avantdroitdrive = new CanAndCoderSwerve(Constants.avantdroitDrive);
final CanAndCoderSwerve avantgauchedrive = new CanAndCoderSwerve(Constants.avantgaucheDrive);
final CanAndCoderSwerve arrieregauchedrive = new CanAndCoderSwerve(Constants.arrieregaucheDrive);
final CanAndCoderSwerve arrieredroitdrive = new CanAndCoderSwerve(Constants.arrieredroitDrive);
final CanAndCoderSwerve avantdroitangle = new CanAndCoderSwerve(Constants.avantdroitAngle);
final CanAndCoderSwerve avantgaucheangle = new CanAndCoderSwerve(Constants.avantgaucheAngle);
final CanAndCoderSwerve arrieregaucheangle = new CanAndCoderSwerve(Constants.arrieregaucheAngle);
final CanAndCoderSwerve arrieredroitangle = new CanAndCoderSwerve(Constants.arrieredroitAngle); */
public void drive(double x, double y, double zRotation){
swerveDrive.drive(new Translation2d(x, y), zRotation, false, false);
}
@@ -56,6 +72,9 @@ public class Drive extends SubsystemBase {
public SwerveModulePosition[] distance(){
return swerveDrive.getModulePositions();
}
public void reset(){
}
@Override
public void periodic() {
// This method will be called once per scheduler run