Merge pull request #18 from Team334/wristevator-motors

added motors to wristevator
Team334 · Jan 20, 2025 · 574e7a5 · 574e7a5
2 parents 47b1fcc + d3a615d
commit 574e7a5
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diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -31,6 +31,8 @@
 public final class Constants {
   public static final Frequency simUpdateFrequency = Hertz.of(200);
 
+  public static final String canivoreName = "Drivetrain";
+
   public static class Ports {
     public static final int driverController = 0;
     public static final int operatorController = 1;
@@ -87,6 +89,10 @@ public static class WristevatorConstants {
     // temporary values
     public static final AngularVelocity maxWristSpeed = RadiansPerSecond.of(Math.PI);
     public static final LinearVelocity maxElevatorSpeed = MetersPerSecond.of(1);
+
+    public static final int leftMotorId = 0;
+    public static final int rightMotorId = 1;
+    public static final int wristMotorId = 2;
   }
 
   public static class SerializerConstants {

diff --git a/src/main/java/frc/robot/subsystems/Wristevator.java b/src/main/java/frc/robot/subsystems/Wristevator.java
@@ -2,11 +2,14 @@
 
 import static edu.wpi.first.units.Units.*;
 
+import com.ctre.phoenix6.hardware.TalonFX;
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.lib.AdvancedSubsystem;
+import frc.robot.Constants;
+import frc.robot.Constants.WristevatorConstants;
 import java.util.function.Consumer;
 import java.util.function.DoubleSupplier;
 
@@ -42,6 +45,13 @@ public Distance getHeight() {
     }
   }
 
+  private final TalonFX _leftMotor =
+      new TalonFX(WristevatorConstants.leftMotorId, Constants.canivoreName);
+  private final TalonFX _rightMotor =
+      new TalonFX(WristevatorConstants.rightMotorId, Constants.canivoreName);
+  private final TalonFX _wristMotor =
+      new TalonFX(WristevatorConstants.wristMotorId, Constants.canivoreName);
+
   private final Consumer<WristevatorSetpoint> _wristevatorSetpointSetter;
 
   public Wristevator(Consumer<WristevatorSetpoint> wristevatorSetpointSetter) {