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Fix joystick drive math

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- Remove math constants
- Replace ternaries
This commit is contained in:
nathanrsxtn
2021-11-18 21:35:36 -07:00
parent 8438bc6768
commit e1bf0ff1cd
2 changed files with 3 additions and 37 deletions
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src/main/java/frc4388/robot/Constants.java
-4
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@@ -285,8 +285,4 @@ public final class Constants {
public static final int XBOX_OPERATOR_ID = 1;
public static final int BUTTON_FOX_ID = 2;
}
public static final class MathConstants {
public static final double PI_2 = Math.PI / 2;
}
}
src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java
+3 -33
View File
@@ -8,10 +8,7 @@
package frc4388.robot.commands.drive;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants;
import frc4388.robot.Robot;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.MathConstants;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Pneumatics;
import frc4388.utility.controller.IHandController;
@@ -47,38 +44,11 @@ public class DriveWithJoystick extends CommandBase {
public void execute() {
double moveInput = m_controller.getLeftYAxis() * DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR;
double steerInput = m_controller.getRightXAxis() * DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR;
double moveOutput = (moveInput >= 0 ? -1 : 1) * (Math.cos(MathConstants.PI_2 * moveInput) - 1);
double moveOutput = Math.copySign(1 - Math.cos(Math.PI * moveInput / 2), moveInput);
double cosMultiplier = m_pneumatics.m_isSpeedShiftHigh ? DriveConstants.COS_MULTIPLIER_HIGH : DriveConstants.COS_MULTIPLIER_LOW;
double deadzone = 0.1;
double steerOutput = (steerInput == 0 ? 0 : (steerInput > 0 ? -1 : 1)) * (Math.cos(MathConstants.PI_2 * steerInput) * (cosMultiplier - deadzone) + cosMultiplier);
/*
double outputLimit = 0.8;
boolean isMoveOutputLimited = false;
boolean isSteerOutputLimited = false;
if (m_pneumatics.m_isSpeedShiftHigh) {
if (isMoveOutputLimited) {
if (moveOutput > outputLimit) {
moveOutput = outputLimit;
} else if(moveOutput < -outputLimit) {
moveOutput = -outputLimit;
}
}
if (isSteerOutputLimited) {
if (steerOutput > outputLimit) {
steerOutput = outputLimit;
} else if(steerOutput < -outputLimit) {
steerOutput = -outputLimit;
}
}
}
*/
m_drive.driveWithInput(moveOutput, steerOutput * .8);
double steerOutput = Math.copySign(Math.cos(Math.PI * steerInput / 2) * (deadzone - cosMultiplier) + cosMultiplier, steerInput);
m_drive.driveWithInput(moveOutput, steerOutput * 0.8);
}
// Called once the command ends or is interrupted.