progress, all real done i think

Merridew1 · Nov 20, 2024 · 05fd261 · 05fd261
1 parent cde0355
commit 05fd261
Show file tree

Hide file tree

Showing 4 changed files with 38 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -21,6 +21,12 @@ public final class Constants {
      * Motor CAN id's.
      */
     public static final class Motors {
+        public static final class DriveTrainMotors {
+            public static final int FRMOTOR = 0;
+            public static final int FLMOTOR = 1;
+            public static final int BRMOTOR = 2;
+            public static final int BLMOTOR = 3;
+        }
     }
 
     /**

diff --git a/src/main/java/frc/robot/subsystems/drive/Drivetrain.java b/src/main/java/frc/robot/subsystems/drive/Drivetrain.java
@@ -2,6 +2,7 @@
 
 import org.littletonrobotics.junction.Logger;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 /**
  * Drivetrain subsystem.
@@ -10,18 +11,24 @@
 public class Drivetrain extends SubsystemBase {
     private DrivetrainIO io;
     private DrivetrainIOInputsAutoLogged inputs = new DrivetrainIOInputsAutoLogged();
+    private CommandXboxController driver;
 
     /**
      * Create Wrist Intake Subsystem
      */
-    public Drivetrain(DrivetrainIO io) {
-        this.io = io;
+    public Drivetrain(DrivetrainIO iop, CommandXboxController driverp) {
+        this.io = iop;
+        io.updateInputs(inputs);
+
     }
 
     @Override
     public void periodic() {
         io.updateInputs(inputs);
         Logger.processInputs("Drivetrain", inputs);
+
+        double driverY = driver.getLeftY();
+        double driverX = driver.getRightY();
     }
 }
 
diff --git a/src/main/java/frc/robot/subsystems/drive/DrivetrainIO.java b/src/main/java/frc/robot/subsystems/drive/DrivetrainIO.java
@@ -1,7 +1,6 @@
 package frc.robot.subsystems.drive;
 
 import org.littletonrobotics.junction.AutoLog;
-import edu.wpi.first.math.geometry.Rotation2d;
 
 /**
  * DrivetrainIO interface
@@ -12,7 +11,10 @@ public interface DrivetrainIO {
      */
     @AutoLog
     public static class DrivetrainIOInputs {
-        public Rotation2d gyroYaw = new Rotation2d();
+        public double rightFrontMotor;
+        public double leftFrontMotor;
+        public double rightBackMotor;
+        public double leftbackMotor;
     }
 
     /** Updates the set of loggable inputs. */

diff --git a/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java b/src/main/java/frc/robot/subsystems/drive/DrivetrainReal.java
@@ -1,26 +1,41 @@
 package frc.robot.subsystems.drive;
 
-import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
+import frc.robot.Constants;
 
 /**
  * DrivetrainReal
  */
 public class DrivetrainReal implements DrivetrainIO {
 
+    VictorSP FLMotor = new VictorSP(Constants.Motors.DriveTrainMotors.FLMOTOR);
+    VictorSP FRMotor = new VictorSP(Constants.Motors.DriveTrainMotors.FRMOTOR);
+    VictorSP BLMotor = new VictorSP(Constants.Motors.DriveTrainMotors.BLMOTOR);
+    VictorSP BRMotor = new VictorSP(Constants.Motors.DriveTrainMotors.BRMOTOR);
+
 
     /**
      * Drivetrain Real
      */
-    public DrivetrainReal() {}
+    public DrivetrainReal() {
+        FLMotor.addFollower(BLMotor);
+        FRMotor.addFollower(BRMotor);
+
+        FRMotor.setInverted(true);
+    }
+
 
     @Override
     public void updateInputs(DrivetrainIOInputs inputs) {
-        inputs.gyroYaw = Rotation2d.fromDegrees(0);
+
     }
 
     /**
      * Drive Voltage
      */
-    public void setDriveVoltage(double lvolts, double rvolts) {}
+    public void setDriveVoltage(double lvolts, double rvolts) {
+        FRMotor.setVoltage(lvolts);
+        FRMotor.setVoltage(rvolts);
+    }
 
 }