fixed

RoboticsTeam4904 · Jan 15, 2024 · 5e6fd20 · 5e6fd20
1 parent 7d46a31
commit 5e6fd20
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Showing 4 changed files with 7 additions and 14 deletions.
diff --git a/build.gradle b/build.gradle
@@ -68,7 +68,7 @@ dependencies {
     simulationRelease wpi.sim.enableRelease()
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher:1.10.1'
 }
 
 test {

diff --git a/src/main/java/org/usfirst/frc4904/robot/Robot.java b/src/main/java/org/usfirst/frc4904/robot/Robot.java
@@ -32,7 +32,7 @@
 // import edu.wpi.first.wpilibj2.command.Commands;
 // import edu.wpi.first.wpilibj2.command.button.Trigger;
 
-// import static org.usfirst.frc4904.robot.Utils.nameCommand;
+import static org.usfirst.frc4904.robot.Utils.nameCommand;
 
 public class Robot extends CommandRobotBase {
     // private final RobotMap map = new RobotMap();

diff --git a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
@@ -11,11 +11,6 @@
 //import com.revrobotics.CANSparkMax.IdleMode; //broken
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
-import org.usfirst.frc4904.robot.subsystems.Intake;
-import org.usfirst.frc4904.robot.subsystems.arm.ArmExtensionSubsystem;
-import org.usfirst.frc4904.robot.subsystems.arm.ArmPivotSubsystem;
-import org.usfirst.frc4904.robot.subsystems.arm.ArmSubsystem;
-
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -162,8 +157,6 @@ public static class Component {
         // public static RobotUDP robotUDP;
 
         public static SwerveDrive chassis;
-        public static ArmSubsystem arm;
-        public static Intake intake;
     }
 
     public static class NetworkTables {
@@ -218,10 +211,10 @@ public RobotMap() {
         *************************/
 
         //TODO: fix invert type, talk to anna
-        Component.FLdrive  = new CANTalonFX(Port.CANMotor.RIGHT_DRIVE_A, InvertType.None);
-        Component.FLturn = new CANTalonFX(Port.CANMotor.RIGHT_DRIVE_B, InvertType.None);
-        Component.BRdrive   = new CANTalonFX(Port.CANMotor.LEFT_DRIVE_A, InvertType.None);
-        Component.BRturn  = new CANTalonFX(Port.CANMotor.LEFT_DRIVE_B, InvertType.None);
+        Component.FLdrive  = new CANTalonFX(Port.CANMotor.RIGHT_DRIVE_A);
+        Component.FLturn = new CANTalonFX(Port.CANMotor.RIGHT_DRIVE_B);
+        Component.BRdrive   = new CANTalonFX(Port.CANMotor.LEFT_DRIVE_A);
+        Component.BRturn  = new CANTalonFX(Port.CANMotor.LEFT_DRIVE_B);
 
 
         // Component.backRightWheelTalon.setSafetyEnabled(false);

diff --git a/src/main/java/org/usfirst/frc4904/standard b/src/main/java/org/usfirst/frc4904/standard
+4 −4		subsystems/chassis/SwerveModule.java
+28 −28		subsystems/motor/SmartMotorSubsystem.java
+31 −31		subsystems/motor/SparkMaxMotorSubsystem.java
+235 −244		subsystems/motor/TalonMotorSubsystem.java