robot-2023/src/main/java/frc/robot/subsystems/BasePilotable.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.subsystems;

import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;

public class BasePilotable extends SubsystemBase {
  final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
  final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless);
  final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless);
  final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless);

  final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
  final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);

  final DifferentialDrive drive = new DifferentialDrive(gauche, droit);

  /** Creates a new BasePilotable. */
  public BasePilotable() {
    droit.setInverted(true);
  }

  @Override
  public void periodic() {
    // This method will be called once per scheduler run
  }
}