DriveSubsystem.java

// 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.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.configs.TalonFXConfigurator;
import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.hardware.TalonFX;

import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.ctre.phoenix6.controls.Follower;



public class DriveSubsystem extends SubsystemBase {
  private static DriveSubsystem instance;
  public static DriveSubsystem getInstance() {
             if(instance == null) instance = new DriveSubsystem();
            return instance;
  }
   private static final String rio = "rio";
  public final TalonFX FrontLeftDriving = new TalonFX(2, rio);
  public final TalonFX FrontRightDriving = new TalonFX(1, rio);
  public final TalonFX BackLeftDriving = new TalonFX(4, rio);
  public final TalonFX BackRightDriving = new TalonFX(3, rio);

  public final DutyCycleOut leftOut = new DutyCycleOut(0.0);
  public final DutyCycleOut rightOut = new DutyCycleOut(0.0);
  
  
  
  public DriveSubsystem() {
    var leftConfiguration = new TalonFXConfiguration();
    var RightConfiguration = new TalonFXConfiguration();
    RightConfiguration.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
    leftConfiguration.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; 

    BackLeftDriving.setControl(new Follower(FrontLeftDriving.getDeviceID(), false)); 
    BackRightDriving.setControl(new Follower(FrontRightDriving.getDeviceID(), false));

    FrontLeftDriving.setSafetyEnabled(true);
    FrontRightDriving.setSafetyEnabled(true);

    BackLeftDriving.getConfigurator().apply(leftConfiguration);
    FrontLeftDriving.getConfigurator().apply(leftConfiguration);
    BackRightDriving.getConfigurator().apply(RightConfiguration);
    FrontRightDriving.getConfigurator().apply(RightConfiguration);

    FrontLeftDriving.setNeutralMode(NeutralModeValue.Brake);
    FrontRightDriving.setNeutralMode(NeutralModeValue.Brake);
    BackLeftDriving.setNeutralMode(NeutralModeValue.Brake);
    BackRightDriving.setNeutralMode(NeutralModeValue.Brake);
  }

  /**
   * Example command factory method.
   *
   * @return a command
   */
  public Command exampleMethodCommand() {
    // Inline construction of command goes here.
    // Subsystem::RunOnce implicitly requires `this` subsystem.
    return runOnce(
        () -> {
          /* one-time action goes here */
        });
  }

  /**
   * An example method querying a boolean state of the subsystem (for example, a digital sensor).
   *
   * @return value of some boolean subsystem state, such as a digital sensor.
   */
  public boolean exampleCondition() {
    // Query some boolean state, such as a digital sensor.
    return false;
  }

  @Override
  public void periodic() {
    // This method will be called once per scheduler run
  }

  @Override
  public void simulationPeriodic() {
    // This method will be called once per scheduler run during simulation
  }

public void arcadeDrive(double d, double e, boolean b, boolean c) {
    double leftArcade = d+e;
    double rightArcade = d-e;
    leftOut.Output = leftArcade;
    rightOut.Output = rightArcade;
    FrontLeftDriving.setControl(leftOut);
    FrontRightDriving.setControl(rightOut);

 
}


    
  
}