Create drivetrain (#7)

* Declare Drivetrain Motors

Created a subsystem and added drivetrain motors and motor id's.

* Added myself as a contributor

Co-Authored-By: Evan Grinnell <155865196+S0L0GUY@users.noreply.github.com>

* Added Motor Movement Logic

Co-Authored-By: Evan Grinnell <155865196+S0L0GUY@users.noreply.github.com>

* Added Empty Drive Command

* Created Basic Driving Control Sample

This code does not work correctly, but that is to be fixed in the next push.

* Made drivetrain turn and not angry

Co-Authored-By: Evan Grinnell <155865196+S0L0GUY@users.noreply.github.com>

---------

Co-authored-by: Evan Grinnell <155865196+S0L0GUY@users.noreply.github.com>

Author: FRCTeam3255-Shared-K1-10

src/main/java/frc/robot/RobotContainer.java

@@ -8,28 +8,32 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.commands.Drive;
 import frc.robot.commands.IntakeGround;
 import frc.robot.commands.PrepShooter;
 import frc.robot.commands.StageGP;
 import frc.robot.commands.intakeHopper;
+import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Hopper;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.Shooter;
 import frc.robot.subsystems.Stager;
 
 public class RobotContainer {
-  private final SN_XboxController m_driverController = new SN_XboxController(1);
+  private final SN_XboxController m_driverController = new SN_XboxController(RobotMap.mapControllers.DRIVER_USB);
+  private final Drivetrain subDrivetrain = new Drivetrain();
   private final Intake subIntake = new Intake();
   private final Hopper subHopper = new Hopper();
   private final Shooter subShooter = new Shooter();
   private final Stager subStager = new Stager();
+  private final Drive com_Drive = new Drive(subDrivetrain, m_driverController.axis_LeftY, m_driverController.axis_RightX);
   private final IntakeGround com_IntakeGround = new IntakeGround(subIntake, subHopper);
   private final PrepShooter com_PrepShooter = new PrepShooter(subShooter);
   private final StageGP com_StageGP = new StageGP(subStager);
 
   public RobotContainer() {
+    subDrivetrain.setDefaultCommand(com_Drive);
     configureBindings();
-
   }
 
   private void configureBindings() {
@@ -42,4 +46,4 @@ private void configureBindings() {
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
   }
-}
+}

src/main/java/frc/robot/commands/Drive.java

@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Drivetrain;
+
+public class Drive extends Command {
+  /** Creates a new Drive. */
+
+  Drivetrain globalDrivetrain;
+  DoubleSupplier globalForwardSpeed;
+  DoubleSupplier globalRotationSpeed;
+
+  public Drive(Drivetrain passedDrivetrain, DoubleSupplier passedForwardSpeed, DoubleSupplier passedRotationSpeed) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    globalDrivetrain = passedDrivetrain;
+    globalForwardSpeed = passedForwardSpeed;
+    globalRotationSpeed = passedRotationSpeed;
+
+    addRequirements(globalDrivetrain);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    globalDrivetrain.setDrivetrainSpeed(globalForwardSpeed.getAsDouble(), globalRotationSpeed.getAsDouble());
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -11,10 +11,10 @@
 
 public class Drivetrain extends SubsystemBase {
   /** Creates a new Drivetrain. */
-  TalonFX frontRightMotor;
-  TalonFX frontLeftMotor;
-  TalonFX backRightMotor;
-  TalonFX backLeftMotor;
+  private TalonFX frontRightMotor;
+  private TalonFX frontLeftMotor;
+  private TalonFX backRightMotor;
+  private TalonFX backLeftMotor;
 
   public Drivetrain() {
     frontRightMotor = new TalonFX(RobotMap.mapDriveTrain.FRONT_RIGHT_MOTOR);
@@ -23,8 +23,25 @@ public Drivetrain() {
     backLeftMotor = new TalonFX(RobotMap.mapDriveTrain.BACK_LEFT_MOTOR);
   }
 
+  /**
+   * Sets the velocity of the drivetrain motors.
+   * 
+   * @param forwardVelocity The velocity to set for the forward movement of the drivetrain.
+   * @param rotationSpeed The rotation speed to apply to the drivetrain.
+   */
+  public void setDrivetrainSpeed(double forwardVelocity, double rotationSpeed) {
+    // Set right velocity
+    frontRightMotor.set(forwardVelocity - rotationSpeed);
+    backRightMotor.set(forwardVelocity - rotationSpeed);
+
+    // Set left velocity
+    frontLeftMotor.set(forwardVelocity + rotationSpeed);
+    backLeftMotor.set(forwardVelocity + rotationSpeed);
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
   }
 }
+