WIP: Feature tree branch

src/main/java/frc/robot/Constants.java

@@ -16,4 +16,16 @@ public final class Constants {
   public static class OperatorConstants {
     public static final int kDriverControllerPort = 0;
   }
+
+  public final class driveTrainConstants{
+    public static final int SpookyID = 4;
+    public static final int CandyID = 3;
+    public static final int GhostID = 2;
+    public static final int BOOID = 5;
+
+    public static final boolean SpookyInverted = true;
+    public static final boolean CandyInverted = false; 
+    public static final boolean GhostInverted = false;
+    public static final boolean BOOInverted = true;
+  }
 }

src/main/java/frc/robot/Robot.java

@@ -1,6 +1,7 @@
 // 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.
+// Kate and Juan  and Jax wer here. holaaaaaa
 
 package frc.robot;
 

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

@@ -8,7 +8,9 @@
 import frc.robot.commands.Autos;
 import frc.robot.commands.ExampleCommand;
 import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.subsystems.driveTrain;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
@@ -21,6 +23,7 @@
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
+private final driveTrain drivetrain = new driveTrain();
 
   // Replace with CommandPS4Controller or CommandJoystick if needed
   private final CommandXboxController m_driverController =
@@ -45,6 +48,7 @@ private void configureBindings() {
     // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
     new Trigger(m_exampleSubsystem::exampleCondition)
         .onTrue(new ExampleCommand(m_exampleSubsystem));
+        drivetrain.setDefaultCommand(new RunCommand(()-> drivetrain.drive(m_driverController.getLeftY(), m_driverController.getRightX()), drivetrain));
 
     // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
     // cancelling on release.

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

@@ -0,0 +1,52 @@
+// 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.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.driveTrainConstants;
+
+public class driveTrain extends SubsystemBase {
+  /** Creates a new driveTrain. */
+  private final CANSparkMax Spooky;
+  private final CANSparkMax Candy;
+  private final CANSparkMax Ghost;
+  private final CANSparkMax BOO;
+  private final DifferentialDrive Twigs; 
+  public driveTrain() {
+    Spooky = new  CANSparkMax(driveTrainConstants.SpookyID, MotorType.kBrushless);
+    Candy = new  CANSparkMax(driveTrainConstants.CandyID, MotorType.kBrushless);
+    Ghost = new  CANSparkMax(driveTrainConstants.GhostID, MotorType.kBrushless);
+    BOO = new  CANSparkMax(driveTrainConstants.BOOID, MotorType.kBrushless);
+
+    Spooky.setInverted(driveTrainConstants.SpookyInverted);
+    Candy.setInverted(driveTrainConstants.CandyInverted);
+    Ghost.setInverted(driveTrainConstants.GhostInverted);
+    BOO.setInverted(driveTrainConstants.BOOInverted);
+
+
+
+
+    Spooky.follow(BOO);
+    Candy.follow(Ghost);
+
+    Twigs = new DifferentialDrive(Ghost, BOO);
+
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+  public void drive(double drive , double turn) {
+
+    Twigs.arcadeDrive(drive, turn);
+  }
+
+
+}

vendordeps/REVLib.json

@@ -0,0 +1,73 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2023.1.3",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2023.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2023.1.3"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2023.1.3",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2023.1.3",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2023.1.3",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}