diff options
Diffstat (limited to 'src/main/java/frc/robot/Constants.java')
| -rw-r--r-- | src/main/java/frc/robot/Constants.java | 30 |
1 files changed, 15 insertions, 15 deletions
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index efff2b8..f6b7a4b 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -1,12 +1,7 @@ package frc.robot; -import com.revrobotics.CANSparkMax; -import com.revrobotics.CANSparkLowLevel.MotorType; - -import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.I2C; import edu.wpi.first.wpilibj.I2C.Port; @@ -14,8 +9,8 @@ import frc.robot.util.IMUGyro; public class Constants { - public static final GenericHID controller = new GenericHID(0); - public static final GenericHID controller2 = new GenericHID(1); + public static final GenericHID controller1 = new GenericHID(1); + public static final GenericHID controller2 = new GenericHID(0); public static final double InputSmoothing = 0.1; @@ -35,21 +30,23 @@ public class Constants public static final TrapezoidProfile.Constraints motor_constraints = new TrapezoidProfile.Constraints(DriveMaxSpeed, DriveMaxAcceleration); - public static final SimpleMotorFeedforward motor_feedforward = new SimpleMotorFeedforward(0.54082, 2.4705); - public static final CANSparkMax motorL_leader = new CANSparkMax(11, MotorType.kBrushed); - public static final CANSparkMax motorL_follower = new CANSparkMax(12, MotorType.kBrushed); - public static final CANSparkMax motorR_leader = new CANSparkMax(13, MotorType.kBrushed); - public static final CANSparkMax motorR_follower = new CANSparkMax(14, MotorType.kBrushed); + public static final double MotorkS = 0.54082; + public static final double MotorkV = 2.4705; + + public static final int motorL_leader_ID = 11; + public static final int motorL_follower_ID = 12; + public static final int motorR_leader_ID = 13; + public static final int motorR_follower_ID = 14; - public static final Encoder encoderL = new Encoder(6, 7); - public static final Encoder encoderR = new Encoder(4, 5); + public static final int[] encoderL_PINS = {6, 7}; + public static final int[] encoderR_PINS = {4, 5}; // for Intake public static final int intakeT_ID = 32; public static final int intakeD_ID = 31; - // for Shooter CommandScheduler.getInstance().run(); + // for Shooter public static final int shooterT_ID = 21; public static final int shooterD_ID = 22; @@ -92,4 +89,7 @@ public class Constants // Hooks public static final int hookL_ID = 62; public static final int hookR_ID = 61; + + public static final int[] hookL_PINS = {0, 0}; + public static final int[] hookR_PINS = {0, 0}; } |