Robot configuration

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

@@ -31,6 +31,16 @@ public class CANDevices{
         public static final int backRightRotationEncoderID = 11;
     }
 
+    public enum ChassisMode {
+        B_TEAM,
+        C_TEAM
+    }
+
+    public enum DriveMode {
+        TANKDRIVE,
+        ARCADEDRIVE
+    }
+
     public static final class DriveConstants {
 
         public static final double[] driveKps = {0.7, 0.4, 0.7, 0.7};
@@ -58,12 +68,27 @@ public static final class DriveConstants {
         public static final double poseMoveRotationMaxAccel = Math.PI;
 
 
+		public static final double autoDrivePercent = 0.6;
+    }
+
+    public static final class B_Configs {
         public static final int frontLeftID = 4;
 		public static final int backLeftID = 5;
 		public static final int frontRightID = 6;
 		public static final int backRightID = 7;
 
-		public static final double autoDrivePercent = 0.6;
     }
 
+
+    public static final class C_Configs {
+
+        public static final int frontLeftID = 1;
+        public static final int frontRightID = 2;
+        public static final int backLeftID = 3;
+        public static final int backRightID = 4;
+
+
+    }
+
+
 }

src/main/java/frc/robot/RobotConfiguration.java

@@ -0,0 +1,34 @@
+package frc.robot;
+
+import frc.robot.Constants.ChassisMode;
+import frc.robot.Constants.DriveMode;
+
+public class RobotConfiguration {
+
+    private DriveMode driveMode; 
+    private ChassisMode chassisMode;
+    private boolean armEnabled;
+
+    public RobotConfiguration(ChassisMode chassisConfig, DriveMode driveConfig) {
+        this.driveMode = driveConfig; 
+        this.chassisMode = chassisConfig;
+
+        armEnabled = (chassisConfig == ChassisMode.B_TEAM);
+
+    }
+
+    public DriveMode driveConfig() {
+        return driveMode;
+    }
+
+    public ChassisMode chassisConfig() {
+        return chassisMode;
+    }
+
+
+    public boolean armEnabled() {
+        return armEnabled;
+    }
+
+
+}

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

@@ -1,23 +1,30 @@
 package frc.robot;
 
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.commands.drive.TankDrive;
-import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.ArmSubsystem;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.commands.Intake;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.subsystems.ArmSubsystem;
+import frc.robot.Constants.ChassisMode;
+import frc.robot.Constants.DriveMode;
+import frc.robot.commands.drive.ArcadeDrive;
+import frc.robot.commands.drive.TankDrive;
+import frc.robot.subsystems.drive.DriveSubsystem;
 
 public class RobotContainer {
-    private final DriveSubsystem drive = new DriveSubsystem();
+
+    private final RobotConfiguration robot = new RobotConfiguration(ChassisMode.B_TEAM, DriveMode.ARCADEDRIVE);
+
+    private final DriveSubsystem drive;
+
     private final Joystick leftStick = new Joystick(0);
     private final Joystick rightStick = new Joystick(1);
     private final XboxController gamepad = new XboxController(2);
@@ -26,14 +33,17 @@ public class RobotContainer {
 
     //private XboxController gamepad = new XboxController(0);
 
-    SendableChooser<String> autoChooser = new SendableChooser<String>();
-    private Command activeAutoCommand = null;
-    private String activeAutoName = null;
+    public RobotContainer(){
+
+        drive = new DriveSubsystem(robot.chassisConfig(), robot.driveConfig());
+        //fix 
 
-    public RobotContainer() {
-        drive.setDefaultCommand(new TankDrive(drive,
+        drive.setDefaultCommand(new TankDrive(drive, 
                 () -> leftStick.getRawAxis(1),
                 () -> rightStick.getRawAxis(0)));
+        SendableChooser<String> autoChooser = new SendableChooser<String>();
+        //private Command activeAutoCommand = null;
+        //private String activeAutoName = null;
         configureButtonBindings();
 
     }

src/main/java/frc/robot/commands/drive/ArcadeDrive.java

@@ -3,7 +3,7 @@
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.subsystems.drive.DriveSubsystem;
 
 public class ArcadeDrive extends CommandBase{
     private final DriveSubsystem drivesub;

src/main/java/frc/robot/commands/drive/TankDrive.java

@@ -3,7 +3,7 @@
 import java.util.function.DoubleSupplier;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.subsystems.drive.DriveSubsystem;
 
 public class TankDrive extends CommandBase{
 

src/main/java/frc/robot/subsystems/DriveHardware.java → src/main/java/frc/robot/subsystems/drive/DriveHardware.java

@@ -1,13 +1,17 @@
-package frc.robot.subsystems;
+package frc.robot.subsystems.drive;
+
+import com.ctre.phoenix.sensors.PigeonIMU;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import frc.robot.Constants;
 
 public class DriveHardware {
 
     protected MotorControllerGroup rightMotorControllerGroup;
     protected MotorControllerGroup leftMotorControllerGroup;
     protected DifferentialDrive drive;
+	//protected final PigeonIMU pigeon = new PigeonIMU(Constants.pigeonID);
     protected final double angleOffset = 0;
 
     public DriveHardware() {}

src/main/java/frc/robot/subsystems/DriveSparkMAX.java → src/main/java/frc/robot/subsystems/drive/DriveSparkMAX.java

@@ -1,10 +1,11 @@
-package frc.robot.subsystems;
+package frc.robot.subsystems.drive;
 
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+
 public class DriveSparkMAX extends DriveHardware {
 
     private final CANSparkMax driveMotorFrontLeft;

src/main/java/frc/robot/subsystems/DriveSubsystem.java → src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java

@@ -1,19 +1,12 @@
-package frc.robot.subsystems;
+package frc.robot.subsystems.drive;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.Constants;
-import frc.robot.Constants.DriveConstants;
+import frc.robot.Constants.B_Configs;
+import frc.robot.Constants.C_Configs;
+import frc.robot.Constants.DriveMode;
+import frc.robot.Constants.ChassisMode;;
 
 public class DriveSubsystem extends SubsystemBase{
 
-    public enum ChassisMode {
-        B_TEAM,
-        C_TEAM
-    }
-
-    public enum DriveMode {
-        TANKDRIVE,
-        ARCADEDRIVE
-    }
 
     private DriveHardware driveHardware;
 
@@ -25,9 +18,9 @@ public enum DriveMode {
 
     public DriveSubsystem(ChassisMode chassisMode, DriveMode driveMode) {
         if (chassisMode == ChassisMode.B_TEAM) {
-            driveHardware = new DriveSparkMAX(DriveConstants.frontLeftID, DriveConstants.frontRightID, DriveConstants.backLeftID, DriveConstants.backRightID);
+            driveHardware = new DriveSparkMAX(B_Configs.frontLeftID, B_Configs.frontRightID, B_Configs.backLeftID, B_Configs.backRightID);
         } else {
-            driveHardware = new DriveTalon(DriveConstants.frontLeftID, DriveConstants.frontRightID, DriveConstants.backLeftID, DriveConstants.backRightID);
+            driveHardware = new DriveTalon(C_Configs.frontLeftID, C_Configs.frontRightID, C_Configs.backLeftID, C_Configs.backRightID);
         }
         mode = driveMode;
     }

src/main/java/frc/robot/subsystems/DriveTalon.java → src/main/java/frc/robot/subsystems/drive/DriveTalon.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems;
+package frc.robot.subsystems.drive;
 
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;