1 files changed, 10 insertions, 35 deletions

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3580633..ed6afe9 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,13 +4,10 @@
 
 package frc.robot;
 
-import javax.smartcardio.CommandAPDU;
-
 import edu.wpi.first.math.geometry.Pose2d;
-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.Trigger;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.subsystems.Drivetrain;
 
@@ -18,7 +15,7 @@ public class RobotContainer
 {
     private final Drivetrain m_drive = new Drivetrain();
 
-    private final GenericHID m_controller = Constants.controller;
+    private final CommandXboxController m_controller = Constants.controller;
 
     public RobotContainer() 
     {
@@ -34,59 +31,37 @@ public class RobotContainer
     {
         m_drive.setDefaultCommand(m_drive.run(() -> 
         m_drive.tank(
-            deadzone(-0.09, 0.09, m_controller.getRawAxis(1)) * Constants.DriveMaxSpeed,
-            deadzone(-0.09, 0.09, m_controller.getRawAxis(3)) * Constants.DriveMaxSpeed
+            deadzone(-0.09, 0.09, m_controller.getLeftY()) * Constants.DriveMaxSpeed,
+            deadzone(-0.09, 0.09, m_controller.getRightY()) * Constants.DriveMaxSpeed
         )));
 
         // debug controls
-        new Trigger(() -> m_controller.getRawButton(1)).onTrue(Commands.runOnce(() -> {
+        m_controller.a().onTrue(Commands.runOnce(() -> {
             Pose2d pose = m_drive.pose2d();
             System.out.println("x: " + pose.getX() +" y: "+ pose.getY());
             System.out.println("yaw: " + Constants.gyro.toRotation2d().getDegrees());
         })); 
-        new Trigger(() -> m_controller.getRawButton(2)).onTrue(Commands.runOnce(() -> {
+        m_controller.b().onTrue(Commands.runOnce(() -> {
             System.out.println("Reset");
             m_drive.reset();
         })); 
 
-
-        new Trigger(() -> m_controller.getRawButton(3) && m_controller.getRawButton(8))
+        m_controller.x().and(m_controller.leftBumper())
             .onTrue(Commands.sequence(Commands.runOnce(() -> 
                     System.out.println("Quasistatic Forward")),
                 m_drive.sysIdQausistatic(SysIdRoutine.Direction.kForward)));
-        new Trigger(() -> m_controller.getRawButton(3) && m_controller.getRawButton(7))
+        m_controller.x().and(m_controller.rightBumper())
             .onTrue(Commands.sequence(Commands.runOnce(() -> 
                     System.out.println("Quasistatic Reverse")),
                 m_drive.sysIdQausistatic(SysIdRoutine.Direction.kReverse)));
-        new Trigger(() -> m_controller.getRawButton(4) && m_controller.getRawButton(8))
+        m_controller.y().and(m_controller.leftBumper())
             .onTrue(Commands.sequence(Commands.runOnce(() -> 
                     System.out.println("Dynamic Forward")),
                 m_drive.sysIdQausistatic(SysIdRoutine.Direction.kForward)));
-        new Trigger(() -> m_controller.getRawButton(4) && m_controller.getRawButton(7))
+        m_controller.y().and(m_controller.rightBumper())
             .onTrue(Commands.sequence(Commands.runOnce(() -> 
                     System.out.println("Dynamic Reverse")),
                 m_drive.sysIdQausistatic(SysIdRoutine.Direction.kReverse)));
-                
-        // new Trigger(() -> m_controller.getRawButton(3)).onTrue(Commands.runOnce(() -> {
-        //     System.out.println("Running Quasistatis routine");
-        //     if(m_controller.getRawButton(8)) {
-        //         System.out.println("Reverse");
-        //         Commands.sequence(m_drive.sysIdQausistatic(SysIdRoutine.Direction.kReverse));
-        //     } else {
-        //         System.out.println("Forward");
-        //         Commands.sequence(m_drive.sysIdQausistatic(SysIdRoutine.Direction.kForward));
-        //     }
-        // })); 
-        // new Trigger(() -> m_controller.getRawButton(4) && m_controller()).onTrue(() -> {
-        //     System.out.println("Running Dynamic routine");
-        //     if(m_controller.getRawButton(8)) {
-        //         System.out.println("Reverse");
-        //         return m_drive.sysIdDynamic(SysIdRoutine.Direction.kReverse);
-        //     } else {
-        //         System.out.println("Forward");
-        //         return m_drive.sysIdDynamic(SysIdRoutine.Direction.kForward);
-        //     }
-        // }()); 
     }
 
     public Command getAutonomousCommand()