added phoenix 6 library and worked on compiling

team581 · Jan 4, 2024 · 7c1825b · 7c1825b
1 parent b152d32
commit 7c1825b
Showing 1 changed file with 5 additions and 32 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -4,10 +4,6 @@
 
 package frc.robot;
 
-import com.ctre.phoenix.led.CANdle;
-import com.ctre.phoenix.motorcontrol.can.TalonFX;
-import com.ctre.phoenix.sensors.CANCoder;
-import com.ctre.phoenix.sensors.Pigeon2;
 import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -57,37 +53,14 @@ public class Robot extends LoggedRobot {
   private final PowerDistribution pdpLogging;
 
   private final SwerveModule frontLeft =
-      new SwerveModule(
-          Config.SWERVE_FL_CONSTANTS,
-          new com.ctre.phoenixpro.hardware.TalonFX(
-              Config.SWERVE_FL_DRIVE_MOTOR_ID, Config.CANIVORE_ID),
-          new com.ctre.phoenixpro.hardware.TalonFX(
-              Config.SWERVE_FL_STEER_MOTOR_ID, Config.CANIVORE_ID),
-          new CANCoder(Config.SWERVE_FL_CANCODER_ID, Config.CANIVORE_ID));
+      new SwerveModule(Config.SWERVE_FL_CONSTANTS, null, null, null);
+
   private final SwerveModule frontRight =
-      new SwerveModule(
-          Config.SWERVE_FR_CONSTANTS,
-          new com.ctre.phoenixpro.hardware.TalonFX(
-              Config.SWERVE_FR_DRIVE_MOTOR_ID, Config.CANIVORE_ID),
-          new com.ctre.phoenixpro.hardware.TalonFX(
-              Config.SWERVE_FR_STEER_MOTOR_ID, Config.CANIVORE_ID),
-          new CANCoder(Config.SWERVE_FR_CANCODER_ID, Config.CANIVORE_ID));
+      new SwerveModule(Config.SWERVE_FR_CONSTANTS, null, null, null);
   private final SwerveModule backLeft =
-      new SwerveModule(
-          Config.SWERVE_BL_CONSTANTS,
-          new com.ctre.phoenixpro.hardware.TalonFX(
-              Config.SWERVE_BL_DRIVE_MOTOR_ID, Config.CANIVORE_ID),
-          new com.ctre.phoenixpro.hardware.TalonFX(
-              Config.SWERVE_BL_STEER_MOTOR_ID, Config.CANIVORE_ID),
-          new CANCoder(Config.SWERVE_BL_CANCODER_ID, Config.CANIVORE_ID));
+      new SwerveModule(Config.SWERVE_BL_CONSTANTS, null, null, null);
   private final SwerveModule backRight =
-      new SwerveModule(
-          Config.SWERVE_BR_CONSTANTS,
-          new com.ctre.phoenixpro.hardware.TalonFX(
-              Config.SWERVE_BR_DRIVE_MOTOR_ID, Config.CANIVORE_ID),
-          new com.ctre.phoenixpro.hardware.TalonFX(
-              Config.SWERVE_BR_STEER_MOTOR_ID, Config.CANIVORE_ID),
-          new CANCoder(Config.SWERVE_BR_CANCODER_ID, Config.CANIVORE_ID));
+      new SwerveModule(Config.SWERVE_BR_CONSTANTS, null, null, null);
 
   private final DriveController driveController = new DriveController(Config.DRIVE_CONTROLLER_PORT);
   private final CommandXboxController operatorController =