DriveTrainΒΆ

For the autonomous to work a subsystem needs to be defined and implemented. For this example only a single motor needs to be created and a way to set the motor speed.

Java

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package frc.robot.subsystems;

//Vendor imports
import com.studica.frc.TitanQuad;

//WPI imports
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;

/**
 * DriveTrain class
 * <p>
 * This class creates the instance of the Titan and enables and sets the speed of the defined motor.
 */
public class DriveTrain extends SubsystemBase
{
    /**
     * Motors
     */
    private TitanQuad motor;

    /**
     * Constructor
     */
    public DriveTrain()
    {
        //Motors
        motor = new TitanQuad(Constants.TITAN_ID, Constants.MOTOR);
    }

    /**
     * Sets the speed of the motor
     * <p>
     * @param speed range -1 to 1 (0 stop)
     */
    public void setMotorSpeed(double speed)
    {
        motor.set(speed);
    }
}

  • Lines 4 - 8 are the imports required. The TitanQuad library for the motor, SubsystemBase for the subsystem, and Constants for the motor parameters.

  • Line 20 is the creation of the motor object.

  • Lines 25 - 29 is the constructor required for creating an instance of the subsystem.

  • Line 28 creates a new instance of the TitanQuad and assigns that instance to the M2 port.

  • Line 36 - 39 is the mutator method to set the speed of the motor.