Added subsystem constructors

WBHSRobotics4737 · Feb 10, 2018 · 9dbab13 · 9dbab13
1 parent 03465d6
commit 9dbab13
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Showing 5 changed files with 78 additions and 56 deletions.
diff --git a/src/org/usfirst/frc/team4737/robot/RobotMap.java b/src/org/usfirst/frc/team4737/robot/RobotMap.java
@@ -14,12 +14,23 @@
  * floating around.
  */
 public class RobotMap {
-	// For example to map the left and right motors, you could define the
-	// following variables to use with your drivetrain subsystem.
-	 public static int leftDriveMaster = 1;
-	 public static int leftDriveSlave = 2;
-	 public static int rightDriveMaster = 3;
-	 public static int rightDriveSlave = 4;
+
+	// Drivetrain
+
+	public static int DRIVE_LEFT_MASTER = 11;
+	public static int DRIVE_LEFT_SLAVE = 12;
+	public static int DRIVE_RIGHT_MASTER = 13;
+	public static int DRIVE_RIGHT_SLAVE = 14;
+
+	// Intake
+
+	public static final int INTAKE_LEFT = 15;
+	public static final int INTAKE_RIGHT = 16;
+
+	// Elevator
+
+	public static final int ELEVATOR_MOTOR_A = 17;
+	public static final int ELEVATOR_MOTOR_B = 18;
 
 	// If you are using multiple modules, make sure to define both the port
 	// number and the module. For example you with a rangefinder:

diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Climber.java b/src/org/usfirst/frc/team4737/robot/subsystems/Climber.java
@@ -15,10 +15,10 @@ public class Climber extends Subsystem {
 	public Climber() {
 		// TODO when we know how the climber works #BlameMechanical
 	}
-	
+
 	public void initDefaultCommand() {
 		// Set the default command for a subsystem here.
 		// setDefaultCommand(new MySpecialCommand());
 	}
-	
+
 }
diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Drivetrain.java b/src/org/usfirst/frc/team4737/robot/subsystems/Drivetrain.java
@@ -11,38 +11,39 @@
  */
 public class Drivetrain extends Subsystem {
 
-    // Put methods for controlling this subsystem
-    // here. Call these from Commands.
+	// Put methods for controlling this subsystem
+	// here. Call these from Commands.
 	private WPI_TalonSRX leftFrontMaster;
 	private WPI_TalonSRX rightFrontMaster;
 	private WPI_TalonSRX leftBackSlave;
 	private WPI_TalonSRX rightBackSlave;
-	
+
 	public Drivetrain() {
-		leftFrontMaster = new WPI_TalonSRX(RobotMap.leftDriveMaster);
-		leftBackSlave = new WPI_TalonSRX(RobotMap.leftDriveSlave);
-		rightFrontMaster = new WPI_TalonSRX(RobotMap.rightDriveMaster);
-		rightBackSlave = new WPI_TalonSRX(RobotMap.rightDriveSlave);
-		
+		leftFrontMaster = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_MASTER);
+		leftBackSlave = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_SLAVE);
+		rightFrontMaster = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_MASTER);
+		rightBackSlave = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_SLAVE);
+
 		leftBackSlave.follow(leftFrontMaster);
 		rightBackSlave.follow(rightFrontMaster);
 	}
 
-    public void initDefaultCommand() {
-        // Set the default command for a subsystem here.
-        //setDefaultCommand(new MySpecialCommand());
-    }
-
-    /**
-     * Controls the drivetrain using two tank-drive joystick inputs
-     * 
-     * @param leftInput - Left joystick input from -1.0 to 1.0
-     * @param rightInput - Right joystick input from -1.0 to 1.0
-     */
-    public void tankDrive(double leftInput, double rightInput) {
-    	leftFrontMaster.set(leftInput);
-    	rightFrontMaster.set(rightInput);
-    }
-
-}
+	public void initDefaultCommand() {
+		// Set the default command for a subsystem here.
+		// setDefaultCommand(new MySpecialCommand());
+	}
 
+	/**
+	 * Controls the drivetrain using two tank-drive joystick inputs
+	 * 
+	 * @param leftInput
+	 *            - Left joystick input from -1.0 to 1.0
+	 * @param rightInput
+	 *            - Right joystick input from -1.0 to 1.0
+	 */
+	public void tankDrive(double leftInput, double rightInput) {
+		leftFrontMaster.set(leftInput);
+		rightFrontMaster.set(rightInput);
+	}
+
+}
diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Elevator.java b/src/org/usfirst/frc/team4737/robot/subsystems/Elevator.java
@@ -1,5 +1,7 @@
 package org.usfirst.frc.team4737.robot.subsystems;
 
+import org.usfirst.frc.team4737.robot.RobotMap;
+
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj.command.Subsystem;
@@ -9,15 +11,19 @@
  */
 public class Elevator extends Subsystem {
 
-    // Put methods for controlling this subsystem
-    // here. Call these from Commands.
-
-	private WPI_TalonSRX elevatorMotor;
-	private WPI_TalonSRX elevatorSpool;
+	// Put methods for controlling this subsystem
+	// here. Call these from Commands.
 
-    public void initDefaultCommand() {
-        // Set the default command for a subsystem here.
-        //setDefaultCommand(new MySpecialCommand());
-    }
-}
+	private WPI_TalonSRX motorA;
+	private WPI_TalonSRX motorB;
 
+	public Elevator() {
+		motorA = new WPI_TalonSRX(RobotMap.ELEVATOR_MOTOR_A);
+		motorB = new WPI_TalonSRX(RobotMap.ELEVATOR_MOTOR_B);
+	}
+
+	public void initDefaultCommand() {
+		// Set the default command for a subsystem here.
+		// setDefaultCommand(new MySpecialCommand());
+	}
+}
diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java b/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java
@@ -1,5 +1,7 @@
 package org.usfirst.frc.team4737.robot.subsystems;
 
+import org.usfirst.frc.team4737.robot.RobotMap;
+
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj.command.Subsystem;
@@ -9,17 +11,19 @@
  */
 public class Intake extends Subsystem {
 
-    // Put methods for controlling this subsystem
-    // here. Call these from Commands.
-
-	private WPI_TalonSRX clawLeft;
-	private WPI_TalonSRX clawRight;
-
-
-
-    public void initDefaultCommand() {
-        // Set the default command for a subsystem here.
-        //setDefaultCommand(new MySpecialCommand());
-    }
-}
+	// Put methods for controlling this subsystem
+	// here. Call these from Commands.
+
+	private WPI_TalonSRX leftMotor;
+	private WPI_TalonSRX rightMotor;
 
+	public Intake() {
+		leftMotor = new WPI_TalonSRX(RobotMap.INTAKE_LEFT);
+		rightMotor = new WPI_TalonSRX(RobotMap.INTAKE_RIGHT);
+	}
+
+	public void initDefaultCommand() {
+		// Set the default command for a subsystem here.
+		// setDefaultCommand(new MySpecialCommand());
+	}
+}