diff options
author | kartofen <mladenovnasko0@gmail.com> | 2024-02-11 22:48:38 +0200 |
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committer | kartofen <mladenovnasko0@gmail.com> | 2024-02-11 22:48:38 +0200 |
commit | 7b58370a6d4174f2e007264c58bebe7868e7fdc3 (patch) | |
tree | b06eafa18052c9dcd8b67579755f2f55dbd216ba /src/main/java/frc/robot/RobotContainer.java | |
parent | de82bb11825e8bc5087f10605b3fe2fd926f1909 (diff) |
imu added
Diffstat (limited to 'src/main/java/frc/robot/RobotContainer.java')
-rw-r--r-- | src/main/java/frc/robot/RobotContainer.java | 15 |
1 files changed, 7 insertions, 8 deletions
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index e08bf8d..d91ff78 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -5,9 +5,9 @@ package frc.robot; import edu.wpi.first.math.filter.SlewRateLimiter; +import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.subsystems.Drivetrain; public class RobotContainer @@ -17,8 +17,8 @@ public class RobotContainer private final SlewRateLimiter m_speedlimiter = new SlewRateLimiter(3); private final SlewRateLimiter m_rotlimiter = new SlewRateLimiter(3); - private final CommandXboxController m_dcontroller = - new CommandXboxController(Constants.PortDriverController); + private final GenericHID m_controller = + new GenericHID(Constants.PortDriverController); public RobotContainer() { @@ -27,12 +27,11 @@ public class RobotContainer private void configureBindings() { - // drivetrain controls m_drive.setDefaultCommand(m_drive.run(() -> - m_drive.drive( - m_speedlimiter.calculate(m_dcontroller.getLeftY()) * Constants.DriveMaxSpeed, - m_rotlimiter.calculate(m_dcontroller.getRightX()) * Constants.DriveMaxAngular - ))); + m_drive.drive( + m_speedlimiter.calculate(m_controller.getRawAxis(1)) * Constants.DriveMaxSpeed, + m_rotlimiter.calculate(m_controller.getRawAxis(2)) * Constants.DriveMaxAngular + ))); } public Command getAutonomousCommand() |