From 7cde9027c22069eebd4b3f77b19d8190a62c28ee Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Mon, 6 Feb 2023 19:37:01 -0500 Subject: [PATCH] base pilotable --- .../frc/robot/subsystems/BasePilotable.java | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java index 21a4568..5a2e212 100644 --- a/src/main/java/frc/robot/subsystems/BasePilotable.java +++ b/src/main/java/frc/robot/subsystems/BasePilotable.java @@ -4,11 +4,28 @@ 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() {} + public BasePilotable() { + droit.setInverted(true); + } @Override public void periodic() {