Turned ported IDs of End Effector motors to constants

added End effort class to Constants
FRC-4509-MechBulls · Oct 16, 2023 · a474dc5 · a474dc5
1 parent 547e051
commit a474dc5
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -160,6 +160,10 @@ public static class ArmConstants {
             0.047,0.046,0.043,0.042,0.04,0.0375,0.035,0.03,0.025,0.02,0.01,0};
   }
 
+  public static class EfConstants {
+    public static int EF_UPPER_PORT = 14;
+    public static int EF_LOWER_PORT = 13;
+  }
 
 
 }
diff --git a/src/main/java/frc/robot/subsystems/EndEffectorSub.java b/src/main/java/frc/robot/subsystems/EndEffectorSub.java
@@ -6,15 +6,16 @@
 import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
 
 
 public class EndEffectorSub extends SubsystemBase {
     private final TalonSRX endEffectorLower;
     private final TalonSRX endEffectorUpper;
 
     public EndEffectorSub() {
-        endEffectorLower = new TalonSRX(13);
-        endEffectorUpper= new TalonSRX(14);
+        endEffectorLower = new TalonSRX(Constants.EfConstants.EF_LOWER_PORT);
+        endEffectorUpper= new TalonSRX(Constants.EfConstants.EF_UPPER_PORT);
 
         endEffectorUpper.configFactoryDefault();
         endEffectorUpper.configFactoryDefault();