configuration for CAN of swervedrive

awtybots · Jan 20, 2024 · 15e804c · 15e804c
1 parent 9072792
commit 15e804c
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Showing 4 changed files with 31 additions and 24 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -36,7 +36,7 @@
     "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
   },
   "[java]": {
-    "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
+    "editor.defaultFormatter": "ms-vsliveshare.vsliveshare"
   },
   "java.debug.settings.onBuildFailureProceed": true
 }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -34,16 +34,17 @@ public static enum Mode {
     /** Replaying from a log file. */
     REPLAY
   }
+
   public static final class DriveConstants {
-      // SPARK MAX CAN IDs
-      public static final int kFrontLeftDrivingCanId = 10;
-      public static final int kRearLeftDrivingCanId = 8;
-      public static final int kFrontRightDrivingCanId = 2;
-      public static final int kRearRightDrivingCanId = 4;
-  
-      public static final int kFrontLeftTurningCanId = 11;
-      public static final int kRearLeftTurningCanId = 9;
-      public static final int kFrontRightTurningCanId = 3;
-      public static final int kRearRightTurningCanId = 5;
+    // SPARK MAX CAN IDs
+    public static final int kFrontLeftDrivingCanId = 10;
+    public static final int kRearLeftDrivingCanId = 8;
+    public static final int kFrontRightDrivingCanId = 2;
+    public static final int kRearRightDrivingCanId = 4;
+
+    public static final int kFrontLeftTurningCanId = 11;
+    public static final int kRearLeftTurningCanId = 9;
+    public static final int kFrontRightTurningCanId = 3;
+    public static final int kRearRightTurningCanId = 5;
   }
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -1,7 +1,5 @@
-//Awtybots 5829 2024 Codebase
-//Thank you FRC 6328 and FRC 3015!
-
-
+// Awtybots 5829 2024 Codebase
+// Thank you FRC 6328 and FRC 3015!
 
 // Copyright 2021-2024 FRC 6328
 // http://github.com/Mechanical-Advantage
@@ -16,7 +14,6 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-
 package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;

diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
@@ -22,6 +22,7 @@
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.RobotController;
+import frc.robot.Constants.DriveConstants;
 import java.util.Queue;
 
 /**
@@ -55,27 +56,35 @@ public class ModuleIOSparkMax implements ModuleIO {
 
   public ModuleIOSparkMax(int index) {
     switch (index) {
+        // Front left
       case 0:
-        driveSparkMax = new CANSparkMax(1, MotorType.kBrushless);
-        turnSparkMax = new CANSparkMax(2, MotorType.kBrushless);
+        driveSparkMax =
+            new CANSparkMax(DriveConstants.kFrontLeftDrivingCanId, MotorType.kBrushless);
+        turnSparkMax = new CANSparkMax(DriveConstants.kFrontLeftTurningCanId, MotorType.kBrushless);
         turnAbsoluteEncoder = new AnalogInput(0);
         absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
         break;
+        // Front right
       case 1:
-        driveSparkMax = new CANSparkMax(3, MotorType.kBrushless);
-        turnSparkMax = new CANSparkMax(4, MotorType.kBrushless);
+        driveSparkMax =
+            new CANSparkMax(DriveConstants.kFrontRightDrivingCanId, MotorType.kBrushless);
+        turnSparkMax =
+            new CANSparkMax(DriveConstants.kFrontRightTurningCanId, MotorType.kBrushless);
         turnAbsoluteEncoder = new AnalogInput(1);
         absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
         break;
+        // Rear left
       case 2:
-        driveSparkMax = new CANSparkMax(5, MotorType.kBrushless);
-        turnSparkMax = new CANSparkMax(6, MotorType.kBrushless);
+        driveSparkMax = new CANSparkMax(DriveConstants.kRearLeftDrivingCanId, MotorType.kBrushless);
+        turnSparkMax = new CANSparkMax(DriveConstants.kRearLeftTurningCanId, MotorType.kBrushless);
         turnAbsoluteEncoder = new AnalogInput(2);
         absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
         break;
+        // Rear right
       case 3:
-        driveSparkMax = new CANSparkMax(7, MotorType.kBrushless);
-        turnSparkMax = new CANSparkMax(8, MotorType.kBrushless);
+        driveSparkMax =
+            new CANSparkMax(DriveConstants.kRearRightDrivingCanId, MotorType.kBrushless);
+        turnSparkMax = new CANSparkMax(DriveConstants.kRearRightTurningCanId, MotorType.kBrushless);
         turnAbsoluteEncoder = new AnalogInput(3);
         absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
         break;