From 46dd357ed2a83e7960347586aa1b1d5d26a2835c Mon Sep 17 00:00:00 2001 From: Liam Murray Date: Sat, 11 Jan 2025 16:48:35 -0500 Subject: [PATCH] Populated maps in alpha. put the sensor in outtake map --- src/main/java/frc/robot/maps/Alpha.java | 10 ++++++++-- .../java/frc/robot/maps/subsystems/OuttakeMap.java | 5 +++-- 2 files changed, 11 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/maps/Alpha.java b/src/main/java/frc/robot/maps/Alpha.java index 8ccde17..1e0400d 100644 --- a/src/main/java/frc/robot/maps/Alpha.java +++ b/src/main/java/frc/robot/maps/Alpha.java @@ -4,6 +4,7 @@ import org.littletonrobotics.junction.networktables.NT4Publisher; import org.littletonrobotics.junction.wpilog.WPILOGWriter; +import com.chopshop166.chopshoplib.digital.CSDigitalInput; import com.chopshop166.chopshoplib.drive.SDSSwerveModule; import com.chopshop166.chopshoplib.drive.SDSSwerveModule.Configuration; import com.chopshop166.chopshoplib.maps.RobotMapFor; @@ -117,12 +118,17 @@ public SwerveDriveMap getDriveMap() { @Override public AlgaeDestageMap getAlgaeDestageMap() { - return new AlgaeDestageMap(); + CSSparkMax motor = new CSSparkMax(9); + return new AlgaeDestageMap(motor); } @Override public OuttakeMap getOuttakeMap() { - return new OuttakeMap(); + CSSparkMax leftWheels = new CSSparkMax(10); + CSSparkMax rightWheels = new CSSparkMax(11); + rightWheels.setInverted(true); + CSDigitalInput sensor = new CSDigitalInput(9); // same channel as last year dont know if its right + return new OuttakeMap(leftWheels, rightWheels, sensor::get); } @Override diff --git a/src/main/java/frc/robot/maps/subsystems/OuttakeMap.java b/src/main/java/frc/robot/maps/subsystems/OuttakeMap.java index 95fd287..24e56a4 100644 --- a/src/main/java/frc/robot/maps/subsystems/OuttakeMap.java +++ b/src/main/java/frc/robot/maps/subsystems/OuttakeMap.java @@ -14,12 +14,13 @@ public class OuttakeMap implements LoggableMap { public BooleanSupplier sensor; public OuttakeMap() { - this(new SmartMotorController(), new SmartMotorController()); + this(new SmartMotorController(), new SmartMotorController(), () -> false); } - public OuttakeMap(SmartMotorController leftWheel, SmartMotorController rightWheel) { + public OuttakeMap(SmartMotorController leftWheel, SmartMotorController rightWheel, BooleanSupplier sensor) { this.leftMotor = leftWheel; this.rightMotor = rightWheel; + this.sensor = sensor; } // Will add data/logging stuff when we need it