From 73cb92fa3e98e660e97f605c5fb701e68a14e90e Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Sat, 9 Mar 2019 10:31:33 -0700 Subject: [PATCH 1/2] Cleanup OI --- .../frc4388/controller/XboxController.java | 16 ++++++++-------- .../main/java/org/usfirst/frc4388/robot/OI.java | 7 +++---- 2 files changed, 11 insertions(+), 12 deletions(-) diff --git a/2019robot/src/main/java/org/usfirst/frc4388/controller/XboxController.java b/2019robot/src/main/java/org/usfirst/frc4388/controller/XboxController.java index 040282a..b31af36 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/controller/XboxController.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/controller/XboxController.java @@ -149,20 +149,20 @@ public class XboxController implements IHandController public boolean getDPadLeft(){ return (stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE); - } + } - public boolean getDPadRight(){ + public boolean getDPadRight(){ return (stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE); - } + } - public boolean getDPadTop(){ + public boolean getDPadTop(){ return (stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE); - } + } - /*public boolean getDPadBottom(){ + public boolean getDPadBottom(){ return (stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE); - } -*/ + } + public boolean getLeftTrigger(){ return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE); } diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java index 4fce867..34bf95c 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java @@ -66,6 +66,9 @@ public class OI //liftBallIntake.whenPressed(new HatchFlip(false)); liftBallIntake.whenPressed(new LiftBallDropHatch()); + JoystickButton safteySwitch = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.START_BUTTON); + safteySwitch.whenPressed(new setClimberSafety(true)); + safteySwitch.whenReleased(new setClimberSafety(false)); JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS); JoystickButton climbDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_TRIGGER_AXIS); @@ -95,10 +98,6 @@ public class OI SmartDashboard.putData("run arm test", new ArmTest()); SmartDashboard.putData("wrist test", new wristTest()); - JoystickButton safteySwitch = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.START_BUTTON); - safteySwitch.whenPressed(new setClimberSafety(true)); - safteySwitch.whenReleased(new setClimberSafety(false)); - //SmartDashboard.putData("PRE GAME!!!!", new PreGame()); } catch (Exception e) { System.err.println("An error occurred in the OI constructor"); From 82c8d7814ee517c6cc6820ae09cf6356cc01b4bb Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Sat, 9 Mar 2019 11:29:51 -0700 Subject: [PATCH 2/2] Begin setting up dpad control --- .../org/usfirst/frc4388/controller/IHandController.java | 2 ++ .../java/org/usfirst/frc4388/robot/subsystems/Arm.java | 9 +++++---- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/2019robot/src/main/java/org/usfirst/frc4388/controller/IHandController.java b/2019robot/src/main/java/org/usfirst/frc4388/controller/IHandController.java index b32e726..539f06c 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/controller/IHandController.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/controller/IHandController.java @@ -13,4 +13,6 @@ public interface IHandController { public double getLeftTriggerAxis(); public double getRightTriggerAxis(); + + public int getDpadAngle(); } diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java index 3c82ae8..b01740d 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java @@ -273,7 +273,6 @@ public class Arm extends Subsystem implements ControlLoopable // Do the update if (armControlMode == ArmControlMode.JOYSTICK_MANUAL) { controlManualWithJoystick(); - } else if (!isFinished) { if (armControlMode == ArmControlMode.MOTION_PROFILE) { @@ -282,9 +281,11 @@ public class Arm extends Subsystem implements ControlLoopable } if (armControlMode == ArmControlMode.JOYSTICK_PID){ //System.err.println(motor1.getControlMode()); - controlPidWithJoystick(); - - + if (Robot.oi.getOperatorController().getDpadAngle() == -1){ + controlPidWithJoystick(); + } else { + + } } /*else if (armControlMode == ArmControlMode.MP_PATH_VELOCITY) {