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Get HAL controller data every command run

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nathanrsxtn
2022-01-15 09:54:25 -07:00
parent 0605a1d7a4
commit 593369efb5
1 changed files with 9 additions and 12 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -12
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@@ -5,9 +5,6 @@
package frc4388.robot; package frc4388.robot;
import edu.wpi.first.hal.HAL; 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.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
@@ -49,7 +46,7 @@ public class RobotContainer {
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final boolean bypassDSController = true; private static final boolean BYPASS_DS_CONTROLLER = true;
/** /**
* The container for the robot. Contains subsystems, OI devices, and commands. * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -58,14 +55,14 @@ public class RobotContainer {
configureButtonBindings(); configureButtonBindings();
/* Default Commands */ /* Default Commands */
// drives the swerve drive with a two-axis input from the driver controller // drives the swerve drive with a two-axis input from the driver controller
float[] joystickAxes = new float[HAL.kMaxJoystickAxes]; m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes); float[] joystickAxes = new float[HAL.kMaxJoystickAxes];
double leftXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX(); if (BYPASS_DS_CONTROLLER) HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes);
double leftYAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY(); double leftXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX();
double rightXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX(); double leftYAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY();
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> double rightXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX();
m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true), m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true);
m_robotSwerveDrive }, m_robotSwerveDrive
)); ));
// continually sends updates to the Blinkin LED controller to keep the lights on // continually sends updates to the Blinkin LED controller to keep the lights on