imu added

1 files changed, 15 insertions, 20 deletions

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index f517f08..41c9689 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -1,37 +1,32 @@
 package frc.robot;
 
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.wpilibj.AnalogGyro;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
+import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.I2C.Port;
+import frc.robot.util.IMUGyro;
 
 public class Constants 
 {
-    // other constants
-
     public static final int PortDriverController = 0;
 
-    public static final double DriveMaxSpeed = 0;
-    public static final double DriveMaxAngular = 0;
+    public static final double DriveMaxSpeed = 20; // m/s
+    public static final double DriveMaxAngular = Math.PI; // rad/s?
 
     public static final double WheelRadius = 0; // in meters
     public static final double TrackWidth = 0;  // in meters
 
     public static final double EncoderResolution = 4096;
-
-    // public static final DifferentialDrive drive = new DifferentialDrive(...);
     
-    public static final AnalogGyro gyro = new AnalogGyro(...);
-
-    public static final PWMSparkMax motorL_leader = new PWMSparkMax(...);
-    public static final PWMSparkMax motorL_follower = new PWMSparkMax(...);
-    public static final PWMSparkMax motorR_leader = new PWMSparkMax(...);
-    public static final PWMSparkMax motorR_follower = new PWMSparkMax(...);
-
+    public static final IMUGyro gyro = new IMUGyro(new I2C(Port.kOnboard, 0x68));
 
-    public static final Encoder encoderL = new Encoder(...);
-    public static final Encoder encoderR = new Encoder(...);
+    public static final CANSparkMax motorL_leader = new CANSparkMax(40, MotorType.kBrushed);
+    public static final CANSparkMax motorL_follower = new CANSparkMax(41, MotorType.kBrushed);
+    public static final CANSparkMax motorR_leader = new CANSparkMax(42, MotorType.kBrushed);
+    public static final CANSparkMax motorR_follower = new CANSparkMax(43, MotorType.kBrushed);
 
-    public static final SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(...);
+    public static final Encoder encoderL = new Encoder(0, 1);
+    public static final Encoder encoderR = new Encoder(2, 3);
 }