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moving raw input to XboxControllerRaw [WIP]

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This commit is contained in:
Aarav Shah
2022-01-15 13:12:31 -07:00
parent 045a77d08a
commit 2788291c6e
5 changed files with 48 additions and 7 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+22 -1
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@@ -4,6 +4,7 @@
package frc4388.robot.subsystems;
import java.nio.ByteBuffer;
import java.util.Arrays;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
@@ -95,10 +96,30 @@ public class SwerveDrive extends SubsystemBase {
// Temporary janky raw joysticks
float[] driveController = new float[HAL.kMaxJoystickAxes];
HAL.getJoystickAxes((byte) 0, driveController);
// ByteBuffer buttons = new
ByteBuffer num_buttons_buffer = ByteBuffer.allocateDirect(1);
int buttons_int = HAL.getJoystickButtons((byte) 0, num_buttons_buffer);
int num_buttons = num_buttons_buffer.get(0);
boolean[] buttons = new boolean[num_buttons];
for (int i = 0; i < num_buttons; i++) {
buttons[i] = (buttons_int & 1 << i) > 0;
}
if (buttons[0])
m_gyro.reset();
float leftXAxis = driveController[0];
float leftYAxis = driveController[1];
float rightXAxis = driveController[4];
float rightYAxis = driveController[5];
leftXAxis = XboxController.inDeadZone(leftYAxis) ? 0.f : leftXAxis;
leftYAxis = XboxController.inDeadZone(leftYAxis) ? 0.f : leftYAxis;
rightXAxis = XboxController.inDeadZone(rightXAxis) ? 0.f : rightXAxis;
leftXAxis *= leftXAxis * leftXAxis;
leftYAxis *= leftYAxis * leftYAxis;
rightXAxis *= rightXAxis * rightXAxis;
double[] dashboardNums = new double[HAL.kMaxJoystickAxes];
for (int i = 0; i < HAL.kMaxJoystickAxes; i++) {
dashboardNums[i] = (double)((int)(driveController[i] * 100.f)) / 100.d;
}
SmartDashboard.putNumberArray("axes", dashboardNums);
speeds = XboxController.ClampJoystickAxis(leftXAxis, leftYAxis);
rot = -rightXAxis;