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Enhanced Controller #12

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Merged
dlaflotte merged 3 commits into from
Dec 9, 2025
Merged

Enhanced Controller #12

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98006db
basic enhanced controller class
Luddo183 Dec 4, 2025
08fe313
comments
Luddo183 Dec 8, 2025
29e4cdf
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Phoenix2342-Bot Dec 8, 2025
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7 changes: 5 additions & 2 deletions src/main/java/org/team2342/frc/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,6 @@
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import lombok.Getter;
import org.littletonrobotics.junction.inputs.LoggedPowerDistribution;
Expand All @@ -39,14 +38,18 @@
import org.team2342.frc.subsystems.vision.VisionIO;
import org.team2342.frc.subsystems.vision.VisionIOPhoton;
import org.team2342.frc.subsystems.vision.VisionIOSim;
import org.team2342.lib.util.EnhancedXboxController;

public class RobotContainer {
@Getter private final Drive drive;
@Getter private final Vision vision;

private final LoggedDashboardChooser<Command> autoChooser;

@Getter private final CommandXboxController driverController = new CommandXboxController(0);
@Getter
private final EnhancedXboxController driverController =
new EnhancedXboxController(0, DriveConstants.CONTROLLER_DEADBAND);

private final Alert driverControllerAlert =
new Alert("Driver controller is disconnected!", AlertType.kError);

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10 changes: 2 additions & 8 deletions src/main/java/org/team2342/frc/commands/DriveCommands.java
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Expand Up @@ -7,7 +7,6 @@

package org.team2342.frc.commands;

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.math.geometry.Pose2d;
Expand Down Expand Up @@ -44,9 +43,7 @@ public class DriveCommands {
private DriveCommands() {}

public static Translation2d getLinearVelocityFromJoysticks(double x, double y) {
// Apply deadband
double linearMagnitude =
MathUtil.applyDeadband(Math.hypot(x, y), DriveConstants.CONTROLLER_DEADBAND);
double linearMagnitude = Math.hypot(x, y);
Rotation2d linearDirection = new Rotation2d(Math.atan2(y, x));

// Square magnitude for more precise control
Expand All @@ -72,10 +69,7 @@ public static Command joystickDrive(
Translation2d linearVelocity =
getLinearVelocityFromJoysticks(xSupplier.getAsDouble(), ySupplier.getAsDouble());

// Apply rotation deadband
double omega =
MathUtil.applyDeadband(
omegaSupplier.getAsDouble(), DriveConstants.CONTROLLER_DEADBAND);
double omega = omegaSupplier.getAsDouble();

// Square rotation value for more precise control
omega = Math.copySign(omega * omega, omega);
Expand Down
89 changes: 89 additions & 0 deletions src/main/java/org/team2342/lib/util/EnhancedXboxController.java
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@@ -0,0 +1,89 @@
// Copyright (c) 2025 Team 2342
// https://github.com/FRCTeamPhoenix
//
// This source code is licensed under the MIT License.
// See the LICENSE file in the root directory of this project.

package org.team2342.lib.util;

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import lombok.Getter;
import lombok.Setter;

/** Extended {@link CommandXboxController} class */
public class EnhancedXboxController extends CommandXboxController {

@Getter @Setter private double deadband;

/**
* Construct an instance of a controller.
*
* @param port The port index on the Driver Station that the controller is plugged into.
* @param deadband The deadband that will be applied to the controller sticks.
*/
public EnhancedXboxController(int port, double deadband) {
super(port);
}

/**
* Construct an instance of a controller with no deadband.
*
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public EnhancedXboxController(int port) {
this(port, 0);
}

/**
* Set the rumble output for the controller.
*
* @param type Which rumble value to set
* @param intensity The normalized value (0 to 1) to set the rumble to
* @return A command to rumble the controller
*/
public Command rumble(RumbleType type, double intensity) {
return Commands.startEnd(
() -> super.setRumble(type, intensity), () -> super.setRumble(type, 0.0));
}

/**
* Set the rumble output for the controller with a specified timeout.
*
* @param type Which rumble value to set
* @param intensity The normalized value (0 to 1) to set the rumble to
* @param seconds The length of time to rumble the controller for in seconds
* @return A command to rumble the controller for the specifed time
*/
public Command timedRumble(RumbleType type, double intensity, double seconds) {
return Commands.runEnd(() -> super.setRumble(type, intensity), () -> super.setRumble(type, 0.0))
.withTimeout(seconds);
}

/** Get the deadbanded X axis value of left side of the controller. Right is positive. */
@Override
public double getLeftX() {
return MathUtil.applyDeadband(super.getLeftX(), deadband);
}

/** Get the deadbanded Y axis value of left side of the controller. Back is positive. */
@Override
public double getLeftY() {
return MathUtil.applyDeadband(super.getLeftY(), deadband);
}

/** Get the deadbanded X axis value of right side of the controller. Right is positive. */
@Override
public double getRightX() {
return MathUtil.applyDeadband(super.getRightX(), deadband);
}

/** Get the deadbanded Y axis value of right side of the controller. Back is positive. */
@Override
public double getRightY() {
return MathUtil.applyDeadband(super.getRightY(), deadband);
}
}