Team4388/2023WayOfTheRobot
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DRIVING WORKS FIELD RELATIVE NO PROBLEMS

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This commit is contained in:
aarav18
2023-02-04 15:06:42 -07:00
parent 47c29c9b34
commit 5cfd6f971a
8 changed files with 115 additions and 146 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+38 -28
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@@ -10,11 +10,12 @@ package frc4388.robot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoBalance;
import frc4388.robot.commands.DriveWithInput;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -35,8 +36,11 @@ public class RobotContainer {
/* Controllers */
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_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
// private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -46,11 +50,9 @@ public class RobotContainer {
/* Default Commands */
m_robotSwerveDrive.setDefaultCommand(new DriveWithInput(m_robotSwerveDrive,
() -> getDriverController().getLeftXAxis(),
() -> getDriverController().getLeftYAxis(),
() -> getDriverController().getRightXAxis(),
true));
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getRight(), true)
, m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
@@ -67,20 +69,20 @@ public class RobotContainer {
private void configureButtonBindings() {
/* Driver Buttons */
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
// .onFalse()
// new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
// // .onFalse()
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
/* Operator Buttons */
// interrupt button
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.onTrue(new InstantCommand());
// /* Operator Buttons */
// // interrupt button
// new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand());
}
/**
@@ -96,28 +98,36 @@ public class RobotContainer {
/**
* Add your docs here.
*/
public IHandController getDriverController() {
return m_driverXbox;
// public IHandController getDriverController() {
// return m_driverXbox;
// }
public DeadbandedXboxController getDeadbandedDriverController() {
return this.m_driverXbox;
}
public DeadbandedXboxController getDeadbandedOperatorController() {
return this.m_operatorXbox;
}
/**
* Add your docs here.
*/
public IHandController getOperatorController() {
return m_operatorXbox;
}
// public IHandController getOperatorController() {
// return m_operatorXbox;
// }
/**
* Add your docs here.
*/
public Joystick getOperatorJoystick() {
return m_operatorXbox.getJoyStick();
}
// public Joystick getOperatorJoystick() {
// return m_operatorXbox.getJoyStick();
// }
/**
* Add your docs here.
*/
public Joystick getDriverJoystick() {
return m_driverXbox.getJoyStick();
}
// public Joystick getDriverJoystick() {
// return m_driverXbox.getJoyStick();
// }
}