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BitBoardMotors.java
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BitBoardMotors.java
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc.robot.subsystems;
import frc.robot.commands.*;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.PIDSource;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
/**
*
*/
public class BitBoardMotors extends Subsystem {
private TalonSRX bitBoardMotorOne = new TalonSRX(1);
private TalonSRX bitBoardMotorTwo = new TalonSRX(2);
private TalonSRX bitBoardMotorThree = new TalonSRX(3);
//public double Power = 0.5;
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
/* private WPI_TalonSRX talonSRX1;
private WPI_TalonSRX talonSRX2;
private WPI_TalonSRX talonSRX3;
*/
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
public BitBoardMotors() {
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
/*
talonSRX1 = new WPI_TalonSRX(1);
talonSRX2 = new WPI_TalonSRX(2);
talonSRX3 = new WPI_TalonSRX(3);
*/
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
}
@Override
public void initDefaultCommand() {
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT_COMMAND
setDefaultCommand(new MoveBitBoardMotors());
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT_COMMAND
// Set the default command for a subsystem here.
// setDefaultCommand(new MySpecialCommand());
}
public void move(double Power){
bitBoardMotorOne.set(ControlMode.PercentOutput, Power);
bitBoardMotorTwo.set(ControlMode.PercentOutput, Power);
bitBoardMotorThree.set(ControlMode.PercentOutput, Power);
}
@Override
public void periodic() {
// Put code here to be run every loop
}
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
// Put methods for controlling this subsystem
// here. Call these from Commands.
}