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Better driver controls #30

Merged
merged 6 commits into from
Mar 2, 2024
Merged

Better driver controls #30

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401c4d1
Rename stopAll to stopAllDriveMotors
team6101 Feb 29, 2024
55274bd
remove import
team6101 Feb 29, 2024
8e38da2
Start more OOP approach to codriver controls
team6101 Feb 29, 2024
1f863d5
implement OOP based codriver controls
team6101 Mar 1, 2024
51b2c21
implent OOP to inputted driver controls
team6101 Mar 1, 2024
f4971b1
Merge branch 'main' into better-driver-controls
team6101 Mar 2, 2024
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7 changes: 2 additions & 5 deletions src/main/java/frc/robot/InputtedDriverControls.java
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
package frc.robot;

import edu.wpi.first.wpilibj.XboxController;
import frc.robot.RobotComponents.DriveTrain;

public class InputtedDriverControls {

Expand All @@ -11,6 +12,7 @@ public static void setDriverController(XboxController xboxController) {
}

public static void onEveryFrame() {
DriveTrain.driveTank(controller.getLeftY(), controller.getRightY());
if (controller.getBButtonPressed()) {
stopAtFeedingDistance();
}
Expand All @@ -20,11 +22,6 @@ public static void onEveryFrame() {
if (controller.getXButtonPressed()) {
stopAtShootingDistance();
}
driveTank(controller.getLeftY(), controller.getRightY());
}

private static void driveTank(double leftY, double rightY) {
throw new UnsupportedOperationException("Unimplemented method 'driveTank'");
}

private static void stopAtShootingDistance() {
Expand Down
14 changes: 3 additions & 11 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.RobotComponents.DriveTrain;
import frc.robot.Vision.AprilTagHighlighter;
import frc.robot.auton.AutonAction;
import frc.robot.auton.AutonRoutes;
Expand Down Expand Up @@ -114,6 +115,7 @@ public void robotInit() {
System.out.println("Is drive right parent inverted at end?? " + driveRightParent.getInverted());

InputtedCoDriverControls.setCoDriverController(coDriverController);
InputtedDriverControls.setDriverController(driverController);
}

/**
Expand Down Expand Up @@ -207,17 +209,7 @@ public void teleopInit() {}
@Override
public void teleopPeriodic() {
teleopActionRunner.onEveryFrame();
// TODO: make slow mode
double leftY = driverController.getLeftY();
double rightY = driverController.getRightY();
QuickActions.stopDriveMotors();
if (Math.abs(leftY) > Constants.CONTROLLER_DEADZONE) {
driveLeftParent.set(leftY);
}
if (Math.abs(rightY) > Constants.CONTROLLER_DEADZONE) {
driveRightParent.set(rightY);
}
// aprilTagHighlighter.doEveryTeleopFrame(driverController);
InputtedDriverControls.onEveryFrame();
InputtedCoDriverControls.onEveryFrame();
}

Expand Down
18 changes: 18 additions & 0 deletions src/main/java/frc/robot/RobotComponents/DriveTrain.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
package frc.robot.RobotComponents;

import frc.robot.Constants;
import frc.robot.QuickActions;
import frc.robot.Robot;

public class DriveTrain {

public static void driveTank(double leftY, double rightY) {
QuickActions.stopDriveMotors();
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Why are we always stopping the motors?

if (Math.abs(leftY) > Constants.CONTROLLER_DEADZONE) {
Robot.motors.getDriveLeftChild().set(leftY);
}
if (Math.abs(rightY) > Constants.CONTROLLER_DEADZONE) {
Robot.motors.getDriveRightParent().set(rightY);
}
}
}