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add some triggers with HID instead #152

Merged
merged 10 commits into from
Feb 16, 2024
Merged

add some triggers with HID instead #152

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5075c68
add some triggers with HID instead
Jacob1010-h Feb 11, 2024
4072014
revert spacing error
Jacob1010-h Feb 11, 2024
a516079
resolve changes :DD
Jacob1010-h Feb 15, 2024
c4eb6cd
Merge branch 'sim-dev' into 144-controller-commandscheduler-loop-fix
Jacob1010-h Feb 15, 2024
7c043dc
add one more
Jacob1010-h Feb 15, 2024
8e357ae
Merge branch '144-controller-commandscheduler-loop-fix' of https://gi…
Jacob1010-h Feb 15, 2024
5b6a814
add more !!
Jacob1010-h Feb 16, 2024
ab57658
add bumpers
Jacob1010-h Feb 16, 2024
1996417
more !!
Jacob1010-h Feb 16, 2024
bcfc184
Merge branch 'sim-dev' into 144-controller-commandscheduler-loop-fix
GalexY727 Feb 16, 2024
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5 changes: 2 additions & 3 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -117,8 +117,8 @@ public RobotContainer() {
driver::getLeftY,
driver::getLeftX,
() -> -driver.getRightX(),
() -> !driver.y().getAsBoolean(),
() -> (driver.y().getAsBoolean()
() -> !driver.getYButton(),
() -> (driver.getYButton()
&& Robot.isBlueAlliance())));

configureButtonBindings();
Expand Down Expand Up @@ -245,7 +245,6 @@ private void configureDriverBindings(PatriBoxController controller) {
swerve.resetHDC(),
swerve.getDriveCommand(
() -> {
;
return new ChassisSpeeds(
-controller.getLeftY(),
-controller.getLeftX(),
Expand Down
10 changes: 10 additions & 0 deletions src/main/java/frc/robot/util/PatriBoxController.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
package frc.robot.util;

import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Rotation2d;
Expand All @@ -8,6 +9,7 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.util.Constants.OIConstants;

public class PatriBoxController extends CommandXboxController {
Expand All @@ -25,6 +27,10 @@ public double getLeftX() {
return getLeftAxis().getX();
}

public boolean getYButton() {
return super.getHID().getYButton();
}
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@Override
// This is inverted because for some reason when you
// go forward on the controller, it returns a negative value
Expand All @@ -38,6 +44,10 @@ public Translation2d getLeftAxis() {
return driverLeftAxis;
}

public double getRightTriggerAxis() {
return super.getHID().getRightTriggerAxis();
}
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@Override
public double getRightX() {
return getRightAxis().getX();
Expand Down