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Reduce joystick skew calculations a bit

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This commit is contained in:
nathanrsxtn
2022-04-04 13:37:20 -06:00
parent ae77425c21
commit d3d7157802
5 changed files with 49 additions and 43 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -21
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@@ -96,8 +96,8 @@ public class RobotContainer {
private final ShooterTuner m_shooterTuner = new ShooterTuner(m_robotBoomBoom);
// Controllers
private final static XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final static XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final static DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final static DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID);
public static boolean softLimits = true;
@@ -225,25 +225,19 @@ public class RobotContainer {
configureButtonBindings();
/* Default Commands */
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> {
if (currentDriveMode.equals(DriveMode.ON)) {
m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getLeftY(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true); }
if (currentDriveMode.equals(DriveMode.OFF)) {
m_robotSwerveDrive.driveWithInput( 0,
0,
0,
0,
false);
}}
, m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
if (currentDriveMode == DriveMode.ON) {
m_robotSwerveDrive.driveWithInput(getDriverController().getLeft(),
getDriverController().getRight(), true);
}
if (currentDriveMode == DriveMode.OFF) {
m_robotSwerveDrive.driveWithInput(0, 0, 0, 0, false);
}
}, m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
// Intake with Triggers
// Intake with Triggers
m_robotIntake.setDefaultCommand(
new RunCommand(() -> m_robotIntake.runWithTriggers(
getOperatorController().getLeftTriggerAxis(),
@@ -631,11 +625,11 @@ public class RobotContainer {
}
}
public static XboxController getDriverController() {
public static DeadbandedXboxController getDriverController() {
return m_driverXbox;
}
public XboxController getOperatorController() {
public static DeadbandedXboxController getOperatorController() {
return m_operatorXbox;
}