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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/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();
// }
}