first commit

src/main/java/frc/robot/Main.java

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+// 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;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+public final class Main {
+  private Main() {}
+
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}

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

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+// 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;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+public class Robot extends TimedRobot {
+  private Command m_autonomousCommand;
+
+  private final RobotContainer m_robotContainer;
+
+  public Robot() {
+    m_robotContainer = new RobotContainer();
+  }
+
+  @Override
+  public void robotPeriodic() {
+    CommandScheduler.getInstance().run();
+  }
+
+  @Override
+  public void disabledInit() {}
+
+  @Override
+  public void disabledPeriodic() {}
+
+  @Override
+  public void disabledExit() {}
+
+  @Override
+  public void autonomousInit() {
+    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+    if (m_autonomousCommand != null) {
+      m_autonomousCommand.schedule();
+    }
+  }
+
+  @Override
+  public void autonomousPeriodic() {}
+
+  @Override
+  public void autonomousExit() {}
+
+  @Override
+  public void teleopInit() {
+    if (m_autonomousCommand != null) {
+      m_autonomousCommand.cancel();
+    }
+  }
+
+  @Override
+  public void teleopPeriodic() {}
+
+  @Override
+  public void teleopExit() {}
+
+  @Override
+  public void testInit() {
+    CommandScheduler.getInstance().cancelAll();
+  }
+
+  @Override
+  public void testPeriodic() {}
+
+  @Override
+  public void testExit() {}
+}

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

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+// 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;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.constants.ArmConstants;
+import frc.robot.constants.IOConstants;
+import frc.robot.subsystems.Arm;
+
+public class RobotContainer {
+    CommandXboxController driver;
+
+    Arm arm;
+
+    public RobotContainer() {
+        arm = new Arm();
+        driver = new CommandXboxController(IOConstants.kDriverID0);
+        configureBindings();
+    }
+
+    private void configureBindings() {
+    }
+
+    public Command getAutonomousCommand() {
+        return Commands.print("No autonomous command configured");
+    }
+}

src/main/java/frc/robot/constants/ArmConstants.java

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+package frc.robot.constants;
+
+public class ArmConstants {
+    public static final int kArmMotorID1 = 1;
+}

src/main/java/frc/robot/constants/DriveTrainConstants.java

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+package frc.robot.constants;
+
+public class DriveTrainConstants {
+    public static final int kmotorLeftFtID2 = 2;
+    public static final int kmotorRightFtID3 = 3;
+    public static final int kmotorLeftBkID4 = 4;
+    public static final int kmotorRightBkID5 = 5;
+}

src/main/java/frc/robot/constants/IOConstants.java

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+package frc.robot.constants;
+
+public class IOConstants {
+    public static final int kDriverID0 = 0;
+}

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

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+package frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.ArmConstants;
+
+public class Arm extends SubsystemBase {
+    private WPI_TalonSRX motor;
+
+    public Arm() {
+        motor = new WPI_TalonSRX(ArmConstants.kArmMotorID1);
+    }
+
+    public Command runArmMotor(double speed) {
+        return run(() -> {
+            motor.set(speed);
+        });
+    }
+}

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

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+package frc.robot.subsystems;
+import java.util.function.DoubleSupplier;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.ctre.phoenix6.controls.Follower;
+
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.DriveTrainConstants;
+
+
+public class DriveTrain extends SubsystemBase {
+    private WPI_TalonSRX motorLeftFt;
+    private WPI_TalonSRX motorRightFt;
+    private WPI_TalonSRX motorLeftBk;
+    private WPI_TalonSRX motorRightBk;
+
+    private DifferentialDrive drive;
+    public DriveTrain() {
+        motorLeftFt = new WPI_TalonSRX(DriveTrainConstants.kmotorLeftFtID2);
+        motorRightFt = new WPI_TalonSRX(DriveTrainConstants.kmotorRightFtID3);
+        motorLeftBk = new WPI_TalonSRX(DriveTrainConstants.kmotorLeftBkID4);
+        motorRightBk = new WPI_TalonSRX(DriveTrainConstants.kmotorRightBkID5);
+
+        motorLeftBk.follow(motorLeftFt);
+        motorRightBk.follow(motorRightFt);
+
+        drive = new DifferentialDrive(motorLeftFt, motorRightFt);
+    }
+    public Command driveArcade(DoubleSupplier xSpeed, DoubleSupplier zRotation) {
+        return run(() -> {
+            //makes car like steering possible
+            drive.arcadeDrive(xSpeed.getAsDouble(), zRotation.getAsDouble()); 
+        });
+    }
+
+    public Command driveTank(DoubleSupplier leftSpeed, DoubleSupplier rightSpeed) {
+        return run(() -> {
+            //makes tank steering possible
+            drive.tankDrive(leftSpeed.getAsDouble(), rightSpeed.getAsDouble()); 
+        });
+    }
+}