From 795dd50d5ff0219b012a3372d66b1b8a33f809cb Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 15 Jan 2022 11:31:00 -0700 Subject: [PATCH] Revert "Add inner deadzone to HAL controller data" This reverts commit 3e793515b590cce3d71c3d3c1f44fd0ef0463d6f. --- src/main/java/frc4388/robot/RobotContainer.java | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 497f350..ee6d25b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -5,7 +5,6 @@ package frc4388.robot; import edu.wpi.first.hal.HAL; -import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -48,7 +47,6 @@ public class RobotContainer { private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); private static final boolean BYPASS_DS_CONTROLLER = true; - private static final double HAL_JOYSTICK_DEADBAND = 0.1; /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -60,9 +58,9 @@ public class RobotContainer { 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 ? MathUtil.applyDeadband(joystickAxes[XboxController.Axis.kLeftX.value], HAL_JOYSTICK_DEADBAND) : getDriverController().getLeftX(); - double leftYAxis = BYPASS_DS_CONTROLLER ? MathUtil.applyDeadband(joystickAxes[XboxController.Axis.kLeftY.value], HAL_JOYSTICK_DEADBAND) : getDriverController().getLeftY(); - double rightXAxis = BYPASS_DS_CONTROLLER ? MathUtil.applyDeadband(joystickAxes[XboxController.Axis.kRightX.value], HAL_JOYSTICK_DEADBAND) : getDriverController().getRightX(); + 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 ));