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added xbox controller+joysticks #8

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4 changes: 4 additions & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -64,5 +64,9 @@ public enum Mode {
public static final double DRIVE_BASE_LENGTH = 0.635;
public static final double INITIAL_ROBOT_HEIGHT = 0;

public static final int XBOX_CONTROLLER_ID = 0;
public static final int LEFT_JOYSTICK_ID = 1;
public static final int RIGHT_JOYSTICK_ID = 2;

}

34 changes: 16 additions & 18 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,9 @@

package frc.robot;

import com.ctre.phoenix6.swerve.SwerveDrivetrain;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
Expand All @@ -14,6 +17,8 @@
import frc.robot.subsystems.RollerSubsystem;
import frc.robot.subsystems.TiltSubsystem;
import frc.robot.utils.simulation.RobotVisualizer;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;

/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
Expand All @@ -23,11 +28,15 @@
*/
public class RobotContainer {
// The robot's subsystems and commands are defined here...
private SwerveDrivetrain drivetrain;
private final RollerSubsystem rollerSubsystem;
private final TiltSubsystem tiltSubsystem;
private RobotVisualizer robotVisualizer = null;
// Replace with CommandPS4Controller or CommandJoystick if needed
//new CommandXboxController(OperatorConstants.kDriverControllerPort);
private final CommandXboxController controller =
new CommandXboxController(Constants.XBOX_CONTROLLER_ID);
private final Joystick joyleft = new Joystick(Constants.LEFT_JOYSTICK_ID);
private final Joystick joyright = new Joystick(Constants.RIGHT_JOYSTICK_ID);


/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
Expand All @@ -54,24 +63,11 @@ public RobotContainer() {
putShuffleboardCommands();
}

/**
* Use this method to define your trigger->command mappings. Triggers can be created via the
* {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
* predicate, or via the named factories in {@link
* edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
* CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
* PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
* joysticks}.
*/
private void configureBindings() {
// Schedule `ExampleCommand` when `exampleCondition` changes to `true`
//new Trigger(m_exampleSubsystem::exampleCondition)
// .onTrue(new ExampleCommand(m_exampleSubsystem));

// Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
// cancelling on release.
// m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
JoystickButton joyLeft2 = new JoystickButton(joyleft, 2);
JoystickButton joyRight1 = new JoystickButton(joyright, 1);
}

public void putShuffleboardCommands() {
if (Constants.DEBUG) {
SmartDashboard.putData(
Expand Down Expand Up @@ -100,3 +96,5 @@ public RobotVisualizer getRobotVisualizer() {
return robotVisualizer;
}
}