Package frc8768.robot.subsystems

Class TankSubsystemFalcon

java.lang.Object

frc8768.robot.subsystems.TankSubsystemFalcon

All Implemented Interfaces:

edu.wpi.first.wpilibj2.command.Subsystem

public class TankSubsystemFalcon
extends Object
implements edu.wpi.first.wpilibj2.command.Subsystem

Subsystem for all things Tank related (Falcon 500s, Krakens)

Constructor Summary

Constructors

Constructor	Description
TankSubsystemFalcon(Set<Integer> motorIdsLeft, Set<Integer> motorIdsRight, boolean[] motorsLeftInverted, boolean[] motorsRightInverted)	Tank subsystem constructor.

Method Summary

Modifier and Type	Method	Description
void	drive(edu.wpi.first.math.geometry.Translation2d translation2d)	Drive the subsystem.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, getName, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

TankSubsystemFalcon

public TankSubsystemFalcon(Set<Integer> motorIdsLeft,
 Set<Integer> motorIdsRight,
 boolean[] motorsLeftInverted,
 boolean[] motorsRightInverted)

Tank subsystem constructor.

Parameters:

motorIdsLeft - CAN IDs for left side motors.

motorIdsRight - CAN IDs for right side motors.

motorsLeftInverted - Left IDs -> inverted.

motorsRightInverted - Right IDs -> inverted.

Method Details

drive

public void drive(edu.wpi.first.math.geometry.Translation2d translation2d)

Drive the subsystem.

Parameters:

translation2d - X = Left, Y = Right.