Package frc8768.robot.subsystems

Class TankSubsystemSpark

java.lang.Object

frc8768.robot.subsystems.TankSubsystemSpark

All Implemented Interfaces:

edu.wpi.first.wpilibj2.command.Subsystem

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

Subsystem for all things Tank related (Spark Max)

Constructor Summary

Constructors

Constructor	Description
TankSubsystemSpark(Set<Integer> motorIdsLeft, Set<Integer> motorIdsRight, boolean[] motorsLeftInverted, boolean[] motorsRightInverted, com.revrobotics.spark.SparkLowLevel.MotorType type)	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

TankSubsystemSpark

public TankSubsystemSpark(Set<Integer> motorIdsLeft,
 Set<Integer> motorIdsRight,
 boolean[] motorsLeftInverted,
 boolean[] motorsRightInverted,
 com.revrobotics.spark.SparkLowLevel.MotorType type)

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.

type - Brushless or Brushed, see SparkLowLevel.MotorType

Method Details

drive

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

Drive the subsystem.

Parameters:

translation2d - X = Left, Y = Right.