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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/subsystems/SwerveDrive.java
+15 -28
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@@ -22,7 +22,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
import frc4388.utility.controller.XboxController;
public class SwerveDrive extends SubsystemBase {
SwerveDriveKinematics m_kinematics;
@@ -92,38 +91,26 @@ public class SwerveDrive extends SubsystemBase {
*/
public void driveWithInput(double[] speeds, double rot, boolean fieldRelative)
{
// Temporary janky raw joysticks
float[] driveController = new float[HAL.kMaxJoystickAxes];
HAL.getJoystickAxes((byte) 0, driveController);
float leftXAxis = driveController[0];
float leftYAxis = driveController[1];
float rightXAxis = driveController[4];
float rightYAxis = driveController[5];
speeds = XboxController.ClampJoystickAxis(leftXAxis, leftYAxis);
rot = -rightXAxis;
// System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]);
/*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s );
driveFromSpeeds(speeds);*/
double xSpeedMetersPerSecond = -speeds[0] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
double ySpeedMetersPerSecond = speeds[1] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
SwerveModuleState[] states =
kinematics.toSwerveModuleStates(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3));
SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
for (int i = 0; i < states.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = states[i];
module.setDesiredState(state);
// System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]);
/*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s );
driveFromSpeeds(speeds);*/
double xSpeedMetersPerSecond = -speeds[0] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
double ySpeedMetersPerSecond = speeds[1] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
SwerveModuleState[] states =
kinematics.toSwerveModuleStates(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3));
SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
for (int i = 0; i < states.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = states[i];
module.setDesiredState(state);
}
}
@Override
public void periodic() {
System.err.println(m_gyro.getFusedHeading() +" aaa");
// m_gyro.setFusedHeadingToCompass();
// m_gyro.setYawToCompass();
// m_gyro.getRotation2d();