jfslkda

diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java
index 6b99d880d9215b5551999926eca7a56082188b69..649cbc548b8c41e02a8f8636b61165ac50052054 100644 (file)
--- a/src/main/java/frc/robot/constants/Constants.java
+++ b/src/main/java/frc/robot/constants/Constants.java
@@ -1,5 +1,7 @@
 package frc.robot.constants;
 
+import com.ctre.phoenix6.CANBus;
+
 import edu.wpi.first.wpilibj.RobotBase;
 
 public class Constants {
@@ -11,8 +13,8 @@ public class Constants {
     public static final double LOOP_TIME = 0.02;
 
     // CAN bus names
-    public static final String CANIVORE_CAN = "CANivore";
-    public static final String RIO_CAN = "rio";
+    public static final CANBus CANIVORE_CAN = new CANBus("CANivore");
+    public static final CANBus RIO_CAN = new CANBus("rio");
 
     // Logging 
     public static final boolean USE_TELEMETRY = true;

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index a9a79723de370606a64b4d17c8b7760800c40276..d91802f131d6d823530c2da27d3e8d861f74de62 100644 (file)
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -1,5 +1,6 @@
 package frc.robot.constants.swerve;
 
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 
@@ -114,10 +115,10 @@ public class DriveConstants {
         public static final double PATH_PLANNER_TRANSLATIONAL_D = 0;
     
         // CAN
-        public static String DRIVE_MOTOR_CAN = Constants.CANIVORE_CAN;
-        public static String STEER_MOTOR_CAN = Constants.CANIVORE_CAN;
-        public static String STEER_ENCODER_CAN = Constants.CANIVORE_CAN;
-        public static String PIGEON_CAN = Constants.CANIVORE_CAN;
+        public static CANBus DRIVE_MOTOR_CAN = Constants.CANIVORE_CAN;
+        public static CANBus STEER_MOTOR_CAN = Constants.CANIVORE_CAN;
+        public static CANBus STEER_ENCODER_CAN = Constants.CANIVORE_CAN;
+        public static CANBus PIGEON_CAN = Constants.CANIVORE_CAN;
     
     
         public static COTSFalconSwerveConstants MODULE_CONSTANTS = COTSFalconSwerveConstants.SDSMK4i(DRIVE_GEAR_RATIO);