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

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// 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;
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import com.kauailabs.navx.frc.AHRS;
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import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
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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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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);
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private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
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public double getpitch() {
return gyroscope.getPitch();
}
public void drive(double xSpeed, double zRotation, int i){
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drive.arcadeDrive(xSpeed, zRotation);
}
public double distance(){
return (-avantdroit.getEncoder().getPosition()
+avantgauche.getEncoder().getPosition()
-arrieredroit.getEncoder().getPosition()
+arrieregauche.getEncoder().getPosition()) / 4;
}
public void Reset() {
avantdroit.getEncoder().setPosition(0);
avantgauche.getEncoder().setPosition(0);
arrieredroit.getEncoder().setPosition(0);
arrieregauche.getEncoder().setPosition(0);
}
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/** Creates a new BasePilotable. */
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public BasePilotable() {
droit.setInverted(true);
}
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@Override
public void periodic() {
// This method will be called once per scheduler run
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}
}