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base pilotable

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This commit is contained in:
Antoine PerreaultE 2023-02-06 19:37:01 -05:00
parent 1e857b14c3
commit 7cde9027c2
1 changed files with 18 additions and 1 deletions
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src/main/java/frc/robot/subsystems/BasePilotable.java
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@ -4,11 +4,28 @@
package frc.robot.subsystems; 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 edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
public class BasePilotable extends SubsystemBase { 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. */ /** Creates a new BasePilotable. */
public BasePilotable() {} public BasePilotable() {
droit.setInverted(true);
}
@Override @Override
public void periodic() { public void periodic() {