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Revert "Add inner deadzone to HAL controller data"

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This reverts commit 3e793515b5.
This commit is contained in:
Aarav Shah
2022-01-15 11:31:00 -07:00
parent 3e793515b5
commit 795dd50d5f
1 changed files with 3 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -5
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@@ -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
));