Merge pull request #181 from the-mighty-mo/command-controller

Switch to using CommandXboxController
BroncBotz3481 · Feb 18, 2024 · eb6414d · eb6414d
2 parents a6f915b + 1af7c5e
commit eb6414d
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Showing 5 changed files with 60 additions and 68 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -10,13 +10,9 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.RobotBase;
-import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv;
@@ -34,12 +30,9 @@ public class RobotContainer
   // The robot's subsystems and commands are defined here...
   private final SwerveSubsystem drivebase = new SwerveSubsystem(new File(Filesystem.getDeployDirectory(),
                                                                          "swerve/neo"));
-  // CommandJoystick rotationController = new CommandJoystick(1);
-  // Replace with CommandPS4Controller or CommandJoystick if needed
-  CommandJoystick driverController = new CommandJoystick(1);
 
-  // CommandJoystick driverController   = new CommandJoystick(3);//(OperatorConstants.DRIVER_CONTROLLER_PORT);
-  XboxController driverXbox = new XboxController(0);
+  // Replace with CommandPS4Controller or CommandJoystick if needed
+  final CommandXboxController driverXbox = new CommandXboxController(0);
 
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -50,42 +43,42 @@ public RobotContainer()
     configureBindings();
 
     AbsoluteDriveAdv closedAbsoluteDriveAdv = new AbsoluteDriveAdv(drivebase,
-                                                                   () -> MathUtil.applyDeadband(driverXbox.getLeftY(),
+                                                                   () -> -MathUtil.applyDeadband(driverXbox.getLeftY(),
                                                                                                 OperatorConstants.LEFT_Y_DEADBAND),
-                                                                   () -> MathUtil.applyDeadband(driverXbox.getLeftX(),
+                                                                   () -> -MathUtil.applyDeadband(driverXbox.getLeftX(),
                                                                                                 OperatorConstants.LEFT_X_DEADBAND),
-                                                                   () -> MathUtil.applyDeadband(driverXbox.getRightX(),
+                                                                   () -> -MathUtil.applyDeadband(driverXbox.getRightX(),
                                                                                                 OperatorConstants.RIGHT_X_DEADBAND),
-                                                                   driverXbox::getYButtonPressed,
-                                                                   driverXbox::getAButtonPressed,
-                                                                   driverXbox::getXButtonPressed,
-                                                                   driverXbox::getBButtonPressed);
+                                                                   driverXbox.getHID()::getYButtonPressed,
+                                                                   driverXbox.getHID()::getAButtonPressed,
+                                                                   driverXbox.getHID()::getXButtonPressed,
+                                                                   driverXbox.getHID()::getBButtonPressed);
 
     // Applies deadbands and inverts controls because joysticks
     // are back-right positive while robot
     // controls are front-left positive
     // left stick controls translation
     // right stick controls the desired angle NOT angular rotation
     Command driveFieldOrientedDirectAngle = drivebase.driveCommand(
-        () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
-        () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
-        () -> driverXbox.getRightX(),
-        () -> driverXbox.getRightY());
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
+        () -> -driverXbox.getRightX(),
+        () -> -driverXbox.getRightY());
 
     // Applies deadbands and inverts controls because joysticks
     // are back-right positive while robot
     // controls are front-left positive
     // left stick controls translation
     // right stick controls the angular velocity of the robot
     Command driveFieldOrientedAnglularVelocity = drivebase.driveCommand(
-        () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
-        () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
-        () -> driverXbox.getRawAxis(2));
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
+        () -> -driverXbox.getRightX());
 
     Command driveFieldOrientedDirectAngleSim = drivebase.simDriveCommand(
-        () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
-        () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
-        () -> driverXbox.getRawAxis(2));
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
+        () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
+        () -> -driverXbox.getRawAxis(2));
 
     drivebase.setDefaultCommand(
         !RobotBase.isSimulation() ? driveFieldOrientedDirectAngle : driveFieldOrientedDirectAngleSim);
@@ -102,14 +95,13 @@ private void configureBindings()
   {
     // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
 
-    new JoystickButton(driverXbox, 1).onTrue((new InstantCommand(drivebase::zeroGyro)));
-    new JoystickButton(driverXbox, 3).onTrue(new InstantCommand(drivebase::addFakeVisionReading));
-    new JoystickButton(driverXbox,
-                       2).whileTrue(
+    driverXbox.a().onTrue((Commands.runOnce(drivebase::zeroGyro)));
+    driverXbox.x().onTrue(Commands.runOnce(drivebase::addFakeVisionReading));
+    driverXbox.b().whileTrue(
         Commands.deferredProxy(() -> drivebase.driveToPose(
                                    new Pose2d(new Translation2d(4, 4), Rotation2d.fromDegrees(0)))
                               ));
-//    new JoystickButton(driverXbox, 3).whileTrue(new RepeatCommand(new InstantCommand(drivebase::lock, drivebase)));
+    // driverXbox.x().whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly());
   }
 
   /**

diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.1.2",
+    "version": "2024.2.3",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.1.2"
+            "version": "2024.2.3"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.1.2",
+            "version": "2024.2.3",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "24.1.0",
+    "version": "24.2.0",
     "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "24.1.0"
+            "version": "24.2.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -39,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -52,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -65,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -78,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -91,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -104,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -117,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -130,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -143,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -158,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -173,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -188,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -203,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -218,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -233,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -248,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -263,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -278,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -293,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -308,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -323,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "24.1.0",
+            "version": "24.2.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,

diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2024.2.0",
+    "version": "2024.2.1",
     "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2024.2.0"
+            "version": "2024.2.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.0",
+            "version": "2024.2.1",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2024.2.0",
+            "version": "2024.2.1",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -55,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.0",
+            "version": "2024.2.1",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,