FairportRobotics
/
Castor2026
mirror of https://github.com/FairportRobotics/Castor2026.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge branches 'main' and 'main' of github.com:FairportRobotics/Castor2026

This commit is contained in:
TheRealGrayden 2026-03-10 18:37:10 -04:00
parent 0dc031abd5 e65bad1b3d
commit 78741a01da
5 changed files with 147 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/main/java/frc/robot/Constants.java
View File

@ -66,7 +66,7 @@ public final class Constants {
}
public static class IntakeConstants {
public static final int DEPLOY_MOTOR_ID = 0;
public static final int DEPLOY_MOTOR_ID = 12;
public static final int INTAKE_MOTOR_ID = 1;
}

9
src/main/java/frc/robot/RobotContainer.java
View File

@ -12,6 +12,9 @@ import frc.robot.commands.Autos;
import frc.robot.commands.ExampleCommand;
import frc.robot.subsystems.DriveSubsystem;
import frc.robot.subsystems.ExampleSubsystem;
import frc.robot.subsystems.HopperSubsystem;
import frc.robot.subsystems.IntakeSubsystem;
import frc.robot.subsystems.TurretSubsystem;
/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
@ -31,6 +34,12 @@ public class RobotContainer {
public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
public final TurretSubsystem turretSubsystem = new TurretSubsystem();
public final HopperSubsystem hopperSubsystem = new HopperSubsystem();
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// Configure the trigger bindings

2
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
View File

@ -37,13 +37,11 @@ public class IntakeSubsystem extends TestableSubsystem {
public void extend()
{
deployMotor.set(1);
}
public void retract()
{
deployMotor.set(-1);
}
public void setSpeed(double speed)

6
src/main/java/frc/robot/subsystems/TurretSubsystem.java
View File

@ -10,6 +10,8 @@ import org.fairportrobotics.frc.posty.test.PostTest;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
import frc.robot.Constants;
@ -29,7 +31,7 @@ public class TurretSubsystem extends TestableSubsystem {
private TurretState currentState;
private DigitalInput turretLimitSwitch;
private TalonFX turretMotor;
private TalonFX launcherMotor;
private SparkMax launcherMotor;
private Servo hood;
private CANcoder hoodEncoder;
private Angle limitPos;
@ -41,7 +43,7 @@ public class TurretSubsystem extends TestableSubsystem {
turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.LIMIT_CHANNEL);
turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_ID);
launcherMotor = new TalonFX(Constants.ShooterConstants.LAUNCHER_ID);
launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_ID, MotorType.kBrushless);
hood = new Servo(Constants.ShooterConstants.HOOD_CHANNEL);
hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID);

133
vendordeps/REVLib.json Normal file
View File

@ -0,0 +1,133 @@
{
"fileName": "REVLib.json",
"name": "REVLib",
"version": "2026.0.4",
"frcYear": "2026",
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
"mavenUrls": [
"https://maven.revrobotics.com/"
],
"jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
"javaDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-java",
"version": "2026.0.4"
}
],
"jniDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2026.0.4",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
"version": "2026.0.4",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
"version": "2026.0.4",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
}
],
"cppDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-cpp",
"version": "2026.0.4",
"libName": "REVLib",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2026.0.4",
"libName": "REVLibDriver",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
"version": "2026.0.4",
"libName": "BackendDriver",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
"version": "2026.0.4",
"libName": "REVLibWpi",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
}
]
}