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Switch to WPI's Xbox controller

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- Added toggle to bypass Driver Station controller inputs
This commit is contained in:
nathanrsxtn
2022-01-15 02:01:32 -07:00
parent 878bb170a3
commit 0605a1d7a4
5 changed files with 45 additions and 57 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+30 -29
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@@ -5,7 +5,11 @@
package frc4388.robot;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -14,8 +18,6 @@ import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
/**
* This class is where the bulk of the robot should be declared. Since
@@ -47,6 +49,8 @@ public class RobotContainer {
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final boolean bypassDSController = true;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
@@ -54,19 +58,30 @@ public class RobotContainer {
configureButtonBindings();
/* Default Commands */
// drives the swerve drive with a two-axis input from the driver controller
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
XboxController.ClampJoystickAxis(
getDriverController().getLeftXAxis(),
getDriverController().getLeftYAxis()),
-getDriverController().getRightXAxis(),
true),
m_robotSwerveDrive));
float[] joystickAxes = new float[HAL.kMaxJoystickAxes];
HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes);
double leftXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX();
double leftYAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY();
double rightXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX();
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true),
m_robotSwerveDrive
));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
}
private static double[] clampJoystickAxis(double x, double y) {
double squareMag = x * x + y * y;
double[] ret = { x, y };
if (squareMag > 1.d) {
double mag = Math.sqrt(squareMag);
ret[0] = x / mag;
ret[1] = y / mag;
}
SmartDashboard.putNumberArray("Input", new double[] {squareMag, x, y, ret[0], ret[1]});
return ret;
}
/**
* Use this method to define your button->command mappings. Buttons can be
* created by instantiating a {@link GenericHID} or one of its subclasses
@@ -79,11 +94,11 @@ public class RobotContainer {
.whenPressed(() -> m_robotSwerveDrive.resetGyro());*/
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(() -> {
m_robotSwerveDrive.m_gyro.setYaw(0);
});
@@ -102,28 +117,14 @@ public class RobotContainer {
/**
* Add your docs here.
*/
public IHandController getDriverController() {
public XboxController getDriverController() {
return m_driverXbox;
}
/**
* Add your docs here.
*/
public IHandController getOperatorController() {
public XboxController getOperatorController() {
return m_operatorXbox;
}
/**
* Add your docs here.
*/
public Joystick getOperatorJoystick() {
return m_operatorXbox.getJoyStick();
}
/**
* Add your docs here.
*/
public Joystick getDriverJoystick() {
return m_driverXbox.getJoyStick();
}
}