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RobotMap.java
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RobotMap.java
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package com.team3925.frc2018;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.team3925.utils.CTREControllerFactory;
import edu.wpi.first.wpilibj.DoubleSolenoid;
public class RobotMap {
public static final class DrivetrainMap {
public static final WPI_TalonSRX LEFT_MASTER = CTREControllerFactory.createDefaultTalon(4);
// public static final WPI_TalonSRX LEFT_SLAVE_A = CTREControllerFactory.createDefaultTalon(5);
public static final WPI_TalonSRX LEFT_SLAVE_A = CTREControllerFactory.createPermanentSlaveTalon(5, LEFT_MASTER);
// public static final WPI_VictorSPX LEFT_SLAVE_B = CTREControllerFactory.createDefaultVictor(6);
public static final WPI_VictorSPX LEFT_SLAVE_B = CTREControllerFactory.createPermanentSlaveVictor(6,
LEFT_MASTER);
public static final WPI_TalonSRX RIGHT_MASTER = CTREControllerFactory.createDefaultTalon(1);
public static final WPI_TalonSRX RIGHT_SLAVE_A = CTREControllerFactory.createPermanentSlaveTalon(2,
RIGHT_MASTER);
// public static final WPI_TalonSRX RIGHT_SLAVE_A = CTREControllerFactory.createDefaultTalon(2);
public static final WPI_VictorSPX RIGHT_SLAVE_B = CTREControllerFactory.createPermanentSlaveVictor(3,
RIGHT_MASTER);
// public static final WPI_VictorSPX RIGHT_SLAVE_B = CTREControllerFactory.createDefaultVictor(3);
public static final PigeonIMU DRIVETRAIN_IMU = new PigeonIMU(LEFT_SLAVE_A);
public static final DoubleSolenoid SHIFT_SOLENOID = new DoubleSolenoid(0, 1);
}
public static final class IntakeMap {
public static final WPI_TalonSRX LEFT_INTAKE = CTREControllerFactory.createDefaultTalon(11);
public static final WPI_TalonSRX RIGHT_INTAKE = CTREControllerFactory.createDefaultTalon(12);
public static final WPI_TalonSRX LIFT_MOTOR = CTREControllerFactory.createDefaultTalon(13);
public static final DoubleSolenoid GRAB_SOLENOID = new DoubleSolenoid(2, 3);
public static final DoubleSolenoid SPRING_SOLENOID = new DoubleSolenoid(4,5);
}
public static final class LiftMap {
public static final WPI_TalonSRX MASTER = CTREControllerFactory.createDefaultTalon(8);
public static final WPI_VictorSPX SLAVE = CTREControllerFactory.createPermanentSlaveVictor(7, MASTER);
}
public static final class ElevatorMap {
public static final WPI_TalonSRX MASTER = CTREControllerFactory.createDefaultTalon(9);
public static final WPI_VictorSPX SLAVE_A = CTREControllerFactory.createPermanentSlaveVictor(10, MASTER);
public static final WPI_VictorSPX SLAVE_B = CTREControllerFactory.createPermanentSlaveVictor(7, MASTER);
public static final WPI_TalonSRX SLAVE_C = CTREControllerFactory.createPermanentSlaveTalon(8, MASTER);
}
}