added model for advantage scope

FIRSTTeam6423 · Feb 12, 2025 · 8cd95ef · 8cd95ef
1 parent 79264f3
commit 8cd95ef
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Showing 5 changed files with 13 additions and 5 deletions.
diff --git a/assets/ascopeModels/AlphaModel/config.json b/assets/ascopeModels/AlphaModel/config.json
@@ -0,0 +1,5 @@
+{
+    "name": "alpha",
+    "sourceUrl": "https://docs.google.com/presentation/d/1AAu2zqNKTj3l3szka6KpoWljeriAGVZFnlKDJlKDmbE/edit?usp=sharing",
+    "disableSimplification": true
+}
diff --git a/assets/ascopeModels/AlphaModel/model.glb b/assets/ascopeModels/AlphaModel/model.glb
diff --git a/docs/matrix.md → assets/matrix.md b/docs/matrix.md → assets/matrix.md
diff --git a/src/main/java/org/frc6423/frc2025/subsystems/swerve/module/ModuleIOTalonFX.java b/src/main/java/org/frc6423/frc2025/subsystems/swerve/module/ModuleIOTalonFX.java
@@ -17,7 +17,7 @@
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
-import org.frc6423.frc2025.util.motorUtil.TalonFXUtil;
+import org.frc6423.frc2025.util.motorUtil.CTReUtil;
 import org.frc6423.frc2025.util.swerveUtil.ModuleConfig;
 
 public class ModuleIOTalonFX implements ModuleIO {
@@ -53,8 +53,8 @@ public ModuleIOTalonFX(ModuleConfig config) {
     m_pivotConfig = config.kPivotConfigTalonFX;
     m_driveConfig = config.kDriveConfigTalonFX;
 
-    TalonFXUtil.registerMotor(m_pivotMotor);
-    TalonFXUtil.registerMotor(m_driveMotor);
+    CTReUtil.registerMotor(m_pivotMotor);
+    CTReUtil.registerMotor(m_driveMotor);
 
     m_pivotCANcoder = new CANcoder(config.kPivotABSID);
 

diff --git a/...3/frc2025/util/motorUtil/TalonFXUtil.java → ...6423/frc2025/util/motorUtil/CTReUtil.java b/...3/frc2025/util/motorUtil/TalonFXUtil.java → ...6423/frc2025/util/motorUtil/CTReUtil.java
@@ -6,13 +6,16 @@
 
 package org.frc6423.frc2025.util.motorUtil;
 
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.Orchestra;
 import com.ctre.phoenix6.hardware.TalonFX;
 import java.util.Arrays;
 import java.util.Random;
 
-/** A class that's responsible for configuring all talons to do things */
-public class TalonFXUtil {
+/** A class that's responsible for configuring all CTRe devices */
+public class CTReUtil {
+  public static CANBus CANchan = new CANBus("CAN-chan"); // primary can bus :3
+
   private static final Orchestra robotOrchestra = new Orchestra();
   private static TalonFX[] globalTalonArray;