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Make talons work #3

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Make talons work #3

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29 changes: 9 additions & 20 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,13 +8,14 @@
package frc.robot;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
//import edu.wpi.first.wpilibj.SpeedController;
//import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.Talon;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;


/**
Expand All @@ -25,28 +26,16 @@
* directory.
*/
public class Robot extends TimedRobot {
//private final DifferentialDrive m_robotDrive = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
//private final DifferentialDrive m_robotDrive = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
private final Joystick m_stick = new Joystick(0);
private final Timer m_timer = new Timer();
/*private final Talon R1 = new Talon(1);
private final Talon R2 = new Talon(2);
private final Talon L1 = new Talon(3);
private final Talon L2 = new Talon(4);*/
/*Talon S_R1 = new Talon(1);
Talon S_R2 = new Talon(2);
Talon S_L1 = new Talon(3);
Talon S_L2 = new Talon(4);
private final SpeedControllerGroup M_L = new SpeedControllerGroup(S_L1, S_L2);
private final SpeedControllerGroup M_R = new SpeedControllerGroup(S_R1, S_R2);
private final DifferentialDrive m_robotDrive = new DifferentialDrive(M_L, M_R);*/
Talon m_frontLeft = new Talon(3);
Talon m_rearLeft = new Talon(4);
SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_rearLeft);

Talon m_frontRight = new Talon(1);
Talon m_rearRight = new Talon(2);
private final SpeedController m_frontRight = new WPI_TalonSRX(1);
private final SpeedController m_rearRight = new WPI_TalonSRX(2);
private final SpeedController m_frontLeft = new WPI_TalonSRX(3);
private final SpeedController m_RearLeft = new WPI_TalonSRX(4);
SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_RearLeft);
SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_rearRight);

DifferentialDrive m_robotDrive = new DifferentialDrive(m_left, m_right);
/**
* This function is run when the robot is first started up and should be
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