Team4388/2024AcrossTheRidgebotiverse
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Setup Swerve and add Deadbanded Xbox

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This commit is contained in:
Abhishrek05
2024-01-08 13:47:43 -07:00
parent d861e109fc
commit 811305c08f
4 changed files with 105 additions and 28 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+18 -26
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@@ -16,7 +16,9 @@ import frc4388.robot.Constants.*;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -34,9 +36,16 @@ public class RobotContainer {
/* Subsystems */
private final LED m_robotLED = new LED(m_robotMap.LEDController);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
m_robotMap.rightFront,
m_robotMap.leftBack,
m_robotMap.rightBack,
m_robotMap.gyro);
/* 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 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.
@@ -74,9 +83,9 @@ public class RobotContainer {
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
// .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
}
/**
@@ -92,28 +101,11 @@ public class RobotContainer {
/**
* Add your docs here.
*/
public IHandController getDriverController() {
return m_driverXbox;
public DeadbandedXboxController getDeadbandedDriverController() {
return this.m_driverXbox;
}
/**
* Add your docs here.
*/
public IHandController getOperatorController() {
return m_operatorXbox;
}
/**
* Add your docs here.
*/
public Joystick getOperatorJoystick() {
return m_operatorXbox.getJoyStick();
}
/**
* Add your docs here.
*/
public Joystick getDriverJoystick() {
return m_driverXbox.getJoyStick();
public DeadbandedXboxController getDeadbandedOperatorController() {
return this.m_operatorXbox;
}
}