Merge branch 'mayhem-geared-up' of https://github.com/Team766/2024 into mayhem-geared-up

Author: raghavsial

.wpilib/wpilib_preferences.json

@@ -2,5 +2,5 @@
     "enableCppIntellisense": false,
     "currentLanguage": "java",
     "projectYear": "2024",
-    "teamNumber": 766
+    "teamNumber": 7664
 }

src/main/java/com/team766/robot/common/mechanisms/BurroDrive.java

@@ -46,8 +46,8 @@ public class BurroDrive extends Drive {
     public BurroDrive() {
         loggerCategory = Category.DRIVE;
 
-        leftMotor = RobotProvider.instance.getMotor(DRIVE_LEFT);
-        rightMotor = RobotProvider.instance.getMotor(DRIVE_RIGHT);
+        leftMotor = RobotProvider.instance.getMotor("drive.leftMotor");
+        rightMotor = RobotProvider.instance.getMotor("drive.rightMotor");
 
         leftEncoder = null; //FIXME
         rightEncoder = null; //FIXME

src/main/java/com/team766/robot/rookie_bot/OI.java

@@ -34,7 +34,7 @@ public void run(final Context context) {
             context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
             RobotProvider.instance.refreshDriverStationData();
 
-            Robot.drive.setArcadeDrivePower(joystick0.getAxis(1), joystick0.getAxis(4));
+            Robot.drive.drive(joystick0.getAxis(1), joystick0.getAxis(4);
 
             if ( joystick0.getButtonPressed(5) ){
                 context.startAsync(new PIDElevator(false));

src/main/java/com/team766/robot/rookie_bot/Robot.java

@@ -3,19 +3,20 @@
 import com.team766.framework.AutonomousMode;
 import com.team766.framework.Procedure;
 import com.team766.hal.RobotConfigurator;
+import com.team766.robot.common.mechanisms.BurroDrive;
 import com.team766.robot.rookie_bot.mechanisms.*;
 
 public class Robot implements RobotConfigurator {
     // Declare mechanisms (as static fields) here
-    public static Drive drive;
+    public static BurroDrive drive;
     public static Elevator elevator;
     public static Intake Intake;
     //public static Launcher launcher;
 
     @Override
     public void initializeMechanisms() {
         // Initialize mechanisms here
-        drive = new Drive();
+        drive = new BurroDrive();
         elevator= new Elevator();
         Intake = new Intake();
     }

src/main/java/com/team766/robot/rookie_bot/mechanisms/Drive.java

@@ -27,11 +27,8 @@ public void drive(double leftPower, double rightPower) {
     }
 
     public void setArcadeDrivePower(double forward, double turn) {
-        double leftMotorPower= 0.75*(turn - forward);
-        double rightMotorPower= 0.75*(-turn - forward);
+        double leftMotorPower= 0.8*(turn - forward);
+        double rightMotorPower= 0.8*(-turn - forward);
         drive(leftMotorPower, rightMotorPower);
-        
-        
-
     }
 }

src/main/java/com/team766/robot/rookie_bot/mechanisms/Elevator.java

@@ -5,18 +5,14 @@
 import com.team766.hal.RobotProvider;
 import com.team766.hal.wpilib.CANSparkMaxMotorController;
 import com.team766.hal.MotorController;
-import com.team766.hal.EncoderReader;
 
 public class Elevator extends Mechanism{
     private MotorController m_elevator;
-    private EncoderReader m_elevatorEncoder;
 
     public Elevator() {
         m_elevator = RobotProvider.instance.getMotor("elevator");
 
         ((CANSparkMaxMotorController) m_elevator).setSmartCurrentLimit(10, 80, 200);
-
-        m_elevatorEncoder = RobotProvider.instance.getEncoder("elevator_encoder");
         resetEncoder();
     }
 
@@ -29,7 +25,7 @@ public double getElevatorDistance(){
     }
 
     public void resetEncoder(){
-        m_elevatorEncoder.reset();
+        m_elevator.setSensorPosition(0);
     }
 
 }