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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
import org.littletonrobotics.junction.Logger;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import frc.robot.subsystems.Drivetrain;
public class RobotContainer
{
private final Drivetrain m_drive = new Drivetrain();
private final GenericHID m_controller = Constants.controller;
public RobotContainer()
{
configureBindings();
}
private double processInput(double val)
{
double input = deadzone(-0.06, 0.06, val);
return input * input * input;
}
private double deadzone(double low, double high, double val)
{
if(val > low && val < high) return 0.0;
return ((val > 0.0) ? val - high : val - low);
}
private void configureBindings()
{
m_drive.setDefaultCommand(m_drive.run(() ->
m_drive.tank(
processInput(m_controller.getRawAxis(2)) * Constants.DriveMaxSpeed,
processInput(m_controller.getRawAxis(1)) * Constants.DriveMaxSpeed
)));
// m_drive.setDefaultCommand(m_drive.run(() -> {
// Logger.recordOutput("inputL", processInput(m_controller.getRawAxis(2)));
// Logger.recordOutput("inputR", processInput(m_controller.getRawAxis(1)));
// }));
// m_controller.b().onTrue(Commands.runOnce(() -> {
// m_drive.reset();
// }));
// m_controller.x().and(m_controller.leftBumper())
// .onTrue(Commands.sequence(Commands.runOnce(() ->
// System.out.println("Quasistatic Forward")),
// m_drive.sysIdQausistatic(SysIdRoutine.Direction.kForward)));
// m_controller.x().and(m_controller.rightBumper())
// .onTrue(Commands.sequence(Commands.runOnce(() ->
// System.out.println("Quasistatic Reverse")),
// m_drive.sysIdQausistatic(SysIdRoutine.Direction.kReverse)));
// m_controller.y().and(m_controller.leftBumper())
// .onTrue(Commands.sequence(Commands.runOnce(() ->
// System.out.println("Dynamic Forward")),
// m_drive.sysIdQausistatic(SysIdRoutine.Direction.kForward)));
// m_controller.y().and(m_controller.rightBumper())
// .onTrue(Commands.sequence(Commands.runOnce(() ->
// System.out.println("Dynamic Reverse")),
// m_drive.sysIdQausistatic(SysIdRoutine.Direction.kReverse)));
}
public Command getAutonomousCommand()
{
return Commands.print("No autonomous command configured");
}
}
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