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Revert "Get HAL controller data every command run"

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This reverts commit 593369efb5.
This commit is contained in:
Aarav Shah
2022-01-15 11:31:11 -07:00
parent 795dd50d5f
commit 6eb5fa261a
1 changed files with 12 additions and 9 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+12 -9
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@@ -5,6 +5,9 @@
package frc4388.robot;
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.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
@@ -46,7 +49,7 @@ public class RobotContainer {
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private static final boolean BYPASS_DS_CONTROLLER = true;
private final boolean bypassDSController = true;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -55,14 +58,14 @@ public class RobotContainer {
configureButtonBindings();
/* Default Commands */
// drives the swerve drive with a two-axis input from the driver controller
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
float[] joystickAxes = new float[HAL.kMaxJoystickAxes];
if (BYPASS_DS_CONTROLLER) HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes);
double leftXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX();
double leftYAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY();
double rightXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX();
m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true);
}, m_robotSwerveDrive
float[] joystickAxes = new float[HAL.kMaxJoystickAxes];
HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes);
double leftXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX();
double leftYAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY();
double rightXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX();
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true),
m_robotSwerveDrive
));
// continually sends updates to the Blinkin LED controller to keep the lights on