System-End/TumblerEvent
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Unknown 2024-04-13 10:42:19 -07:00
parent 33fca7107a
commit d28bf00c57
2 changed files with 9 additions and 3 deletions
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3
src/main/java/frc/robot/Constants.java
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@ -15,5 +15,8 @@ package frc.robot;
public final class Constants { public final class Constants {
public static class OperatorConstants { public static class OperatorConstants {
public static final int kDriverControllerPort = 0; public static final int kDriverControllerPort = 0;
public static final double kCompetitionSpeed = 1;
public static final double kShowDriveSpeed = 0.65;
public static final double kShowTurnSpeed = 0.7;
} }
} }

9
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -7,13 +7,16 @@ package frc.robot.subsystems;
import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.RobotContainer;
import frc.robot.Constants.OperatorConstants;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
public class Drivetrain extends SubsystemBase { public class Drivetrain extends SubsystemBase {
/** Creates a new Drivetrain. */ /** Creates a new Drivetrain. */
WPI_TalonSRX frontLeft = new WPI_TalonSRX(2); WPI_TalonSRX frontLeft = new WPI_TalonSRX(0);
WPI_TalonSRX frontRight = new WPI_TalonSRX(1); WPI_TalonSRX frontRight = new WPI_TalonSRX(1);
WPI_TalonSRX backLeft = new WPI_TalonSRX(1); WPI_TalonSRX backLeft = new WPI_TalonSRX(2);
WPI_TalonSRX backRight = new WPI_TalonSRX(3); WPI_TalonSRX backRight = new WPI_TalonSRX(3);
XboxController controller = new XboxController(0); XboxController controller = new XboxController(0);
@ -27,7 +30,7 @@ public class Drivetrain extends SubsystemBase {
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run // This method will be called once per scheduler run
drive.arcadeDrive(controller.getLeftY(), controller.getRightX()); drive.arcadeDrive(controller.getLeftY() * OperatorConstants.kShowDriveSpeed * (1 + controller.getRightTriggerAxis()), -controller.getRightX() * OperatorConstants.kShowTurnSpeed * (1 + controller.getRightTriggerAxis()));
backLeft.follow(frontLeft); backLeft.follow(frontLeft);
backRight.follow(frontRight); backRight.follow(frontRight);