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integrated xboxraw

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This commit is contained in:
Ryan Manley
2022-01-15 15:52:38 -07:00
parent 45574a2a06
commit 3061563db3
8 changed files with 93 additions and 54 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -22,7 +22,7 @@ import frc4388.utility.LEDPatterns;
*/
public final class Constants {
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 3;
public static final double ROTATION_SPEED = 4;
public static final double WHEEL_SPEED = 0.1;
public static final double WIDTH = 22;
public static final double HEIGHT = 22;
src/main/java/frc4388/robot/Robot.java
+2
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@@ -114,6 +114,8 @@ public class Robot extends TimedRobot {
*/
@Override
public void teleopPeriodic() {
m_robotContainer.getDriverController().updateInput();
m_robotContainer.getOperatorController().updateInput();
}
/**
src/main/java/frc4388/robot/RobotContainer.java
+25 -19
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@@ -16,6 +16,8 @@ import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
import frc4388.utility.controller.XboxControllerRaw;
import frc4388.utility.controller.XboxControllerRawButton;
/**
* This class is where the bulk of the robot should be declared. Since
@@ -44,8 +46,8 @@ public class RobotContainer {
private final LED m_robotLED = new LED(m_robotMap.LEDController);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final XboxControllerRaw m_driverXbox = new XboxControllerRaw(OIConstants.XBOX_DRIVER_ID);
private final XboxControllerRaw m_operatorXbox = new XboxControllerRaw(OIConstants.XBOX_OPERATOR_ID);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -75,21 +77,25 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
/*new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(() -> m_robotSwerveDrive.resetGyro());*/
// new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON)
.whenPressed(() -> m_robotSwerveDrive.m_gyro.reset());
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
// new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
// new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
// new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
}
@@ -118,17 +124,17 @@ public class RobotContainer {
return m_operatorXbox;
}
/**
* Add your docs here.
*/
public Joystick getOperatorJoystick() {
return m_operatorXbox.getJoyStick();
}
// /**
// * Add your docs here.
// */
// public Joystick getOperatorJoystick() {
// return m_operatorXbox.getJoyStick();
// }
/**
* Add your docs here.
*/
public Joystick getDriverJoystick() {
return m_driverXbox.getJoyStick();
}
// /**
// * Add your docs here.
// */
// public Joystick getDriverJoystick() {
// return m_driverXbox.getJoyStick();
// }
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+33 -31
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@@ -97,37 +97,39 @@ public class SwerveDrive extends SubsystemBase {
*/
public void driveWithInput(double[] speeds, double rot, boolean fieldRelative)
{
if (speeds[0] == 0 && speeds[1] == 0) ignoreAngles = true;
if (speeds[0] == 0 && speeds[1] == 0 && rot == 0) ignoreAngles = true;
else ignoreAngles = false;
// 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];
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;
speeds[0] *= speeds[0] * speeds[0];
speeds[1] *= speeds[1] * speeds[1];
// // 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];
// 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;
// System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]);
@@ -144,7 +146,7 @@ public class SwerveDrive extends SubsystemBase {
for (int i = 0; i < states.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = states[i];
module.setDesiredState(state, ignoreAngle);
module.setDesiredState(state, ignoreAngles);
}
}
src/main/java/frc4388/utility/controller/IHandController.java
+2
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@@ -18,4 +18,6 @@ public interface IHandController {
public double getRightTriggerAxis();
public int getDpadAngle();
public void updateInput();
}
src/main/java/frc4388/utility/controller/XboxController.java
+2
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@@ -53,6 +53,8 @@ public class XboxController implements IHandController
private Joystick m_stick;
public void updateInput() {}
public static double[] ClampJoystickAxis(double x, double y) {
double square_mag = x * x + y * y;
double[] ret = {x,y};
src/main/java/frc4388/utility/controller/XboxControllerRaw.java
+10 -3
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@@ -25,15 +25,22 @@ public class XboxControllerRaw implements IHandController {
public static final int LEFT_JOYSTICK_BUTTON = 8;
public static final int RIGHT_JOYSTICK_BUTTON = 9;
private static final double DEADZONE = 0.1;
private static final double DEADZONE = 0.08;
private int m_ID;
private int m_buttons = 0;
private int m_numButtons;
private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
float[] m_axes = new float[HAL.kMaxJoystickAxes];
public XboxControllerRaw(int id) {
m_ID = id;
}
public void updateInput() {
HAL.getJoystickAxes((byte) 0, m_axes);
m_buttons = HAL.getJoystickButtons((byte) 0, m_buttonCountBuffer);
HAL.getJoystickAxes((byte) m_ID, m_axes);
m_buttons = HAL.getJoystickButtons((byte) m_ID, m_buttonCountBuffer);
m_numButtons = m_buttonCountBuffer.get(0);
}
src/main/java/frc4388/utility/controller/XboxControllerRawButton.java
+18
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@@ -0,0 +1,18 @@
package frc4388.utility.controller;
import edu.wpi.first.wpilibj2.command.button.Button;
public class XboxControllerRawButton extends Button {
private final XboxControllerRaw m_controller;
private final int m_buttonNumber;
public XboxControllerRawButton(XboxControllerRaw controller, int buttonNumber) {
m_controller = controller;
m_buttonNumber = buttonNumber;
}
@Override
public boolean get() {
return m_controller.getButton(m_buttonNumber);
}
}