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 {
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;
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) {