declared left and right climb motors, and made it so we only call the…

…m "leftClimb" and "rightClimb" respectively
WTMCRobotics · Feb 24, 2024 · 266deb6 · 266deb6
1 parent 3285205
commit 266deb6
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Showing 3 changed files with 14 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -8,6 +8,11 @@ public class Constants {
     public static final int DRIVE_RIGHT_PARENT_ID = 11;
     public static final int DRIVE_RIGHT_CHILD_ID = 3;
 
+    /*CLIMB MOTOR IDS */
+
+    public static final int LEFT_CLIMB_ID = 31;
+    public static final int RIGHT_CLIMB_ID = 21;
+
     /*SHOOTER CONFIG*/
     public static final double REV_TIME = 1.0;
 

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -42,6 +42,8 @@ public class Robot extends TimedRobot {
     MotorController leftFlywheel = MotorControllerFactory.create(6, MotorController.Type.SparkMax);
     MotorController rightFlywheel = MotorControllerFactory.create(7, MotorController.Type.SparkMax);
     MotorController feederMotor = MotorControllerFactory.create(9, MotorController.Type.SparkMax);
+    MotorController leftClimb = MotorControllerFactory.create(Constants.LEFT_CLIMB_ID, MotorController.Type.Talon);
+    MotorController rightClimb = MotorControllerFactory.create(Constants.RIGHT_CLIMB_ID, MotorController.Type.Talon);
     XboxController driverController = new XboxController(Constants.DRIVER_CONTROLLER_ID);
     XboxController coDriverController = new XboxController(1);
     static AHRS navX = new AHRS(SPI.Port.kMXP);
@@ -95,7 +97,9 @@ public void robotInit() {
                 .driveRightChild(driveRightChild)
                 .feeder(feederMotor)
                 .leftFlywheel(leftFlywheel)
-                .rightFlywheel(rightFlywheel);
+                .rightFlywheel(rightFlywheel)
+                .leftClimb(leftClimb)
+                .rightClimb(rightClimb);
         getGyroscope().reset();
         System.out.println(Constants.APRIL_TAG_CONFIDENCE_FRAMES);
         SmartDashboard.putNumber("rotationGainsP", Constants.ROTATION_GAINS.P);

diff --git a/src/main/java/frc/robot/RobotMotors.java b/src/main/java/frc/robot/RobotMotors.java
@@ -92,13 +92,13 @@ public RobotMotors intakeMotor(MotorController intakeMotor) {
         return this;
     }
 
-    public RobotMotors leftClimbMotor(MotorController leftClimbMotor, String arg) {
-        this.leftClimb = leftClimbMotor;
+    public RobotMotors leftClimb(MotorController leftClimb) {
+        this.leftClimb = leftClimb;
         return this;
     }
 
-    public RobotMotors rightClimbMotor(MotorController rightClimbMotor) {
-        this.rightClimb = rightClimbMotor;
+    public RobotMotors rightClimb(MotorController rightClimb) {
+        this.rightClimb = rightClimb;
         return this;
     }
 }