move instantiation of physical components to map

diff --git a/src/org/usfirst/frc/team3501/robot/RobotMap.java b/src/org/usfirst/frc/team3501/robot/RobotMap.java
index 37dad27752feac1f4b7ba04e5bc6528a7aa95d5f..f3528cbde0f59f89cb89b044e37275db10557148 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team3501/robot/RobotMap.java
@@ -1,6 +1,8 @@
 package org.usfirst.frc.team3501.robot;
 
+import edu.wpi.first.wpilibj.CANJaguar;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.SpeedController;
 
 public class RobotMap {
 
@@ -11,8 +13,9 @@ public class RobotMap {
                                MIN_ARM_JOYSTICK_INPUT   = 0.1;
 
     // drivetrain
-    public static final int FRONT_LEFT_ADDRESS = 4, FRONT_RIGHT_ADDRESS = 5,
-                            REAR_LEFT_ADDRESS  = 3, REAR_RIGHT_ADDRESS  = 6;
+    public static final SpeedController
+      frontLeft  = new CANJaguar(4), frontRight = new CANJaguar(5),
+      rearLeft   = new CANJaguar(3), rearRight  = new CANJaguar(6);
 
     public static final double MAX_DRIVE_SPEED = 0.7;
 

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java
index 1267f2c914935d5e18c4787f6a353d2f80feb17f..de1efe61d9b239ce71822b240a41af4a3f4cb5b0 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java
@@ -3,23 +3,18 @@ package org.usfirst.frc.team3501.robot.subsystems;
 import org.usfirst.frc.team3501.robot.RobotMap;
 import org.usfirst.frc.team3501.robot.commands.DriveWithJoysticks;
 
-import edu.wpi.first.wpilibj.CANJaguar;
 import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Drivetrain extends Subsystem {
 
-    private RobotDrive robotDrive;
+    private final RobotDrive robotDrive;
 
     public Drivetrain() {
-        CANJaguar frontLeft  = new CANJaguar(RobotMap.FRONT_LEFT_ADDRESS);
-        CANJaguar frontRight = new CANJaguar(RobotMap.FRONT_RIGHT_ADDRESS);
-        CANJaguar rearLeft   = new CANJaguar(RobotMap.REAR_LEFT_ADDRESS);
-        CANJaguar rearRight  = new CANJaguar(RobotMap.REAR_RIGHT_ADDRESS);
 
         robotDrive = new RobotDrive(
-                frontLeft,  rearLeft,
-                frontRight, rearRight);
+                RobotMap.frontLeft,  RobotMap.rearLeft,
+                RobotMap.frontRight, RobotMap.rearRight);
     }
 
     public void drive(double forward, double twist) {