Prep for using competition robot.

* Add comment for wheel encoder pin clarification.
* Add PDP variable (for Shuffleboard use).
* Change CAN Bus IDs to ones that the TalonSRX's are set up with.
* Change team number to use PhyxtGear's real team number rather than the testing number.
* Disable gyro.
** It's unused and is causing error messages on the Compbot (Competition Robot) because it has no ADXRS450 gyro.

STATUS: Compiles and deploys on both Protobot and Compbot.

NOTES: Make sure that any RoboRIO this code is deployed to has the CTR-E Phoenix Library/Diagnostic tools installed, and that VS Code has the CTR-E Phoenix vendor library installed.

- Logan H-D

Author: PhyXTGears-1720

.wpilib/wpilib_preferences.json

@@ -2,5 +2,5 @@
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
     "projectYear": "2019",
-    "teamNumber": 1721
+    "teamNumber": 1720
 }

src/main/include/Robot.h

@@ -10,6 +10,7 @@
 #include <frc/TimedRobot.h>
 #include <frc/commands/Command.h>
 #include <frc/smartdashboard/SendableChooser.h>
+#include <frc/PowerDistributionPanel.h>
 
 // Subsystems
 #include "subsystems/DriveTrain.h"
@@ -35,4 +36,6 @@ class Robot : public frc::TimedRobot {
 
     private:
         frc::SendableChooser<frc::Command*> m_chooser;
+        frc::PowerDistributionPanel m_pdp{0};
+
 };

src/main/include/RobotMap.h

@@ -16,7 +16,7 @@
 
 
 // Only define this macro if you're testing on the 1721 bot.
-#define PROTOBOT
+//#define PROTOBOT
 
 
 // Motor controller pins
@@ -27,19 +27,22 @@
 #   define kLeftFrontMotor     2
 #   define kLeftBackMotor      3
 
-#   define kRightEncoderPin0   0
-#   define kRightEncoderPin1   1
-#   define kLeftEncoderPin0    2
-#   define kLeftEncoderPin1    3
+// pin numbers for wheel encoders
+// protobot didn't have encoders
+#   define kLeftEncoderPin0    0
+#   define kLeftEncoderPin1    1
+#   define kRightEncoderPin0   2
+#   define kRightEncoderPin1   3
 #else
 // CAN ID numbers for CAN Bus TalonSRXs
-#   define kRightFrontMotor    0
-#   define kRightBackMotor     1
-#   define kLeftFrontMotor     2
-#   define kLeftBackMotor      3
-
-#   define kRightEncoderPin0   0
-#   define kRightEncoderPin1   1
-#   define kLeftEncoderPin0    2
-#   define kLeftEncoderPin1    3
+#   define kLeftFrontMotor     1
+#   define kLeftBackMotor      7
+#   define kRightFrontMotor    2
+#   define kRightBackMotor     4
+
+// pin numbers for wheel encoders
+#   define kLeftEncoderPin0    0
+#   define kLeftEncoderPin1    1
+#   define kRightEncoderPin0   2
+#   define kRightEncoderPin1   3
 #endif

src/main/include/subsystems/DriveTrain.h

@@ -51,5 +51,5 @@ class DriveTrain : public frc::Subsystem {
         // Encoders (reverse the right encoder)
         frc::Encoder m_encoderRight {kRightEncoderPin0, kRightEncoderPin1, true};
         frc::Encoder m_encoderLeft  {kLeftEncoderPin0, kLeftEncoderPin1, false};
-        frc::ADXRS450_Gyro m_gyro {}; // onboard RoboRIO gyro
+        //frc::ADXRS450_Gyro m_gyro {}; // onboard RoboRIO gyro
 };