From 79fefabfdd62452029def84906a0806b083d71c7 Mon Sep 17 00:00:00 2001 From: Eyebullistik <121452254+Eyebullistik@users.noreply.github.com> Date: Wed, 13 Mar 2024 13:36:39 -0600 Subject: [PATCH] joystick via dpad on driver --- .../java/frc4388/robot/RobotContainer.java | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index fa06eec..6fbfa2f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -340,7 +340,23 @@ public class RobotContainer { new Trigger(() -> getDeadbandedDriverController().getPOV() == 180) .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp())); - + + new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9) + .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1), + new Translation2d(0, 0), + true))); + new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9) + .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1), + new Translation2d(0, 0), + true))); + new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9) + .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0), + new Translation2d(0, 0), + true))); + new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9) + .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0), + new Translation2d(0, 0), + true))); // ! /* Auto Recording */ // new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // .whileTrue(new JoystickRecorder(m_robotSwerveDrive,