joystickmotor 2

Spartronics4915 · Jan 15, 2022 · 9958e57 · 9958e57
1 parent b05d9ad
commit 9958e57
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Showing 3 changed files with 28 additions and 7 deletions.
diff --git a/src/main/java/com/spartronics4915/frc/Constants.java b/src/main/java/com/spartronics4915/frc/Constants.java
@@ -19,6 +19,7 @@ public final class Constants
     public static final class OI
     {
         public static final int kJoystickId = 0;
+        public static final int kDriveStraightDriveStickButton = 8;
 
         // this block also copied from ir2020 (magic)
         public static final int kButtonBoardId = 1;
@@ -45,6 +46,15 @@ public DeviceSpec(String nm, int id, int nbut)
         }
     }
 
+    // from atlas 2020
+    public static final class DriveStraightConstants
+    {
+        public static final double kP = 0; // Was 0.4
+        public static final double kI = 0.2;
+        public static final double kD = 0;
+        public static final double kAllowedError = 0; // In degrees
+    }
+
     public static final class JoystickMotorConstants
     {
         public static final double kMotorSpeedMultiplier = 1;

diff --git a/src/main/java/com/spartronics4915/frc/RobotContainer.java b/src/main/java/com/spartronics4915/frc/RobotContainer.java
@@ -1,5 +1,6 @@
 package com.spartronics4915.frc;
 
+import com.spartronics4915.frc.Constants;
 import com.spartronics4915.frc.commands.ExampleCommand;
 import com.spartronics4915.frc.commands.JoystickMotorCommands;
 import com.spartronics4915.frc.subsystems.ExampleSubsystem;
@@ -11,6 +12,10 @@
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
+import edu.wpi.first.wpilibj2.command.ScheduleCommand;
+import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.RobotBase;
 
 //
@@ -31,7 +36,8 @@ public class RobotContainer
     // public final ExampleCommand mAutoCommand;
     public final JoystickMotorCommands mJoystickMotorCommands;
 
-    private final int mJoystickPort = Constants.OI.kJoystickId;
+    // private final int kJoystickPort = Constants.OI.kJoystickId;
+    public static final Joystick mDriverController = new Joystick(Constants.OI.kJoystickId);
 
     /** The container for the robot. Contains subsystems, OI devices, and commands. */
     public RobotContainer()
@@ -47,10 +53,15 @@ public RobotContainer()
 
         configureButtonBindings();
         SmartDashboard.putString("Container","Completed");
+
+        mJoystickMotor.setDefaultCommand(new JoystickMotorCommands(mJoystickMotor));
     }
 
     /** Use this method to define your button ==> command mappings. */
-    private void configureButtonBindings() {}
+    private void configureButtonBindings()
+    {
+
+    }
 
     /**
      * Use this to pass the autonomous command to the main {@link Robot} class.

diff --git a/src/main/java/com/spartronics4915/frc/commands/JoystickMotorCommands.java b/src/main/java/com/spartronics4915/frc/commands/JoystickMotorCommands.java
@@ -6,16 +6,16 @@
 import com.spartronics4915.frc.Constants;
 import com.spartronics4915.frc.subsystems.JoystickMotor;
 
-public class JoystickMotorCommands
+public class JoystickMotorCommands extends CommandBase
 {
-    private final JoystickMotor mMotor;
+    private final JoystickMotor mJoystickMotor;
     private final Joystick mJoystick;
     private boolean mInverted;
     private boolean mSlow;
 
     public JoystickMotorCommands(JoystickMotor motor)
     {
-        mMotor = motor;
+        mJoystickMotor = motor;
         mJoystick = motor.getJoystick();
         mInverted = false;
         mSlow = false;
@@ -25,7 +25,7 @@ public class TeleOpCommand extends CommandBase
     {
         public TeleOpCommand()
         {
-            addRequirements(mMotor);
+            addRequirements(mJoystickMotor);
         }
 
         @Override
@@ -45,7 +45,7 @@ public void execute()
 
             // copied from 2020-InfiniteRecharge, no idea how it works (magic)
             y = Math.copySign(Math.pow(Math.abs(y), 5.0/3.0), y); // apply response curve
-            mMotor.set(applyDeadzone(y, Constants.JoystickMotorConstants.kJoystickDeadzone));
+            mJoystickMotor.set(applyDeadzone(y, Constants.JoystickMotorConstants.kJoystickDeadzone));
         }
 
         // also copied from ir2020