Using deprecated MotorController for working follow

Remove Drive Forever from binding
StuyPulse · Jan 17, 2024 · fa7b6d0 · fa7b6d0
1 parent 980c5f9
commit fa7b6d0
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -76,7 +76,6 @@ private void configureDriverBindings() {
     }
 
     private void configureOperatorBindings() {
-        driver.getLeftButton().onTrue(new DrivetrainDriveForever(2));
     }
 
     /**************/

diff --git a/src/main/java/com/stuypulse/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/com/stuypulse/robot/subsystems/drivetrain/Drivetrain.java
@@ -8,6 +8,7 @@
 import com.stuypulse.stuylib.math.Angle;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Drivetrain extends AbstractDrivetrain {
@@ -19,8 +20,9 @@ public class Drivetrain extends AbstractDrivetrain {
     private final CANSparkMax rightBack;
 
     public Drivetrain() {
-        leftFront = new CANSparkMax(Ports.Drivetrain.LEFTFRONT, MotorType.kBrushless);
         leftBack = new CANSparkMax(Ports.Drivetrain.LEFTREAR, MotorType.kBrushless);
+        leftFront = new CANSparkMax(Ports.Drivetrain.LEFTFRONT, MotorType.kBrushless);
+
         rightFront = new CANSparkMax(Ports.Drivetrain.RIGHTFRONT, MotorType.kBrushless);
         rightBack = new CANSparkMax(Ports.Drivetrain.RIGHTREAR, MotorType.kBrushless);
 
@@ -30,10 +32,10 @@ public Drivetrain() {
         Motors.Drivetrain.RIGHT.configure(rightFront);
         Motors.Drivetrain.RIGHT.configure(rightBack);
 
-        leftBack.follow(leftFront);
-        rightBack.follow(rightFront);
-        
-        drivetrain = new DifferentialDrive(leftFront, rightFront);
+        // leftBack.follow(leftFront);
+        // rightBack.follow(rightFront);
+
+        drivetrain = new DifferentialDrive(new MotorControllerGroup(leftFront, leftBack), new MotorControllerGroup(rightFront,rightBack));
     }
 
     //********** GETTERS **********//
-Original file line number
+Diff line change
@@ Expand Up / @@ -76,7 +76,6 @@ private void configureDriverBindings() { @@
         }
         private void configureOperatorBindings() {
-            driver.getLeftButton().onTrue(new DrivetrainDriveForever(2));
         }
         /**************/
@@ Expand Down @@