allow xbox controllers again

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index aab87c83fb81d880dcee2b3b3ce3a4055e8e1166..377285c816d512c2b3e9088bcdc48549402901df 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -59,7 +59,7 @@ public class RobotContainer {
   private Command auto = new DoNothing();
 
   // Controllers are defined here
-  private PS5ControllerDriverConfig driver = null;
+  private BaseDriverConfig driver = null;
   private Operator operator = null;
 
   /**

diff --git a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
index 5c176306d0ff21f10c8f9af6ae306f72820edf8b..28775d4ac7c411cad7d1d2cc479ad04827bb93b3 100644 (file)
--- a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
+++ b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
@@ -25,11 +25,11 @@ import lib.controllers.PS5Controller.PS5Axis;
  */
 public class DefaultDriveCommand extends Command {
     protected final Drivetrain swerve;
-    protected final PS5ControllerDriverConfig driver;
+    protected final BaseDriverConfig driver;
 
     public DefaultDriveCommand(
             Drivetrain swerve,
-            PS5ControllerDriverConfig driver) {
+            BaseDriverConfig driver) {
         this.swerve = swerve;
         this.driver = driver;
 
@@ -49,20 +49,6 @@ public class DefaultDriveCommand extends Command {
         double forwardTranslation = driver.getForwardTranslation();
         double sideTranslation = driver.getSideTranslation();
         double rotation = -driver.getRotation();
-        // if (swerve.getTrenchAssist()) {
-        //     sideTranslation = Math
-        //             .sqrt(driver.controller.get(PS5Axis.LEFT_X) * driver.controller.get(PS5Axis.LEFT_Y)
-        //                     * driver.controller.get(PS5Axis.LEFT_X) * driver.controller.get(PS5Axis.LEFT_Y))
-        //             *
-        //             new Rotation2d(driver.controller.get(PS5Axis.LEFT_X), driver.controller.get(PS5Axis.LEFT_Y))
-        //                     .rotateBy(swerve.getYaw()).getCos();
-        //     forwardTranslation = Math
-        //             .sqrt(driver.controller.get(PS5Axis.LEFT_X) * driver.controller.get(PS5Axis.LEFT_Y)
-        //                     * driver.controller.get(PS5Axis.LEFT_X) * driver.controller.get(PS5Axis.LEFT_Y))
-        //             *
-        //             new Rotation2d(driver.controller.get(PS5Axis.LEFT_X), driver.controller.get(PS5Axis.LEFT_Y))
-        //                     .rotateBy(swerve.getYaw()).getSin();
-        // }
 
         double slowFactor = driver.getIsSlowMode() ? DriveConstants.SLOW_DRIVE_FACTOR : 1;
 

diff --git a/src/main/java/frc/robot/commands/vision/AimAtGamePiece.java b/src/main/java/frc/robot/commands/vision/AimAtGamePiece.java
index ad8eef67c8567ce0e308b0a1b29dd9cf71db731e..fc908dc8938871d2dce8c818acecefb4f163a582 100644 (file)
--- a/src/main/java/frc/robot/commands/vision/AimAtGamePiece.java
+++ b/src/main/java/frc/robot/commands/vision/AimAtGamePiece.java
@@ -17,7 +17,7 @@ public class AimAtGamePiece extends DefaultDriveCommand {
     private static DetectedObject cachedObject;
   
 
-    public AimAtGamePiece(Drivetrain drive, PS5ControllerDriverConfig driver, Supplier<DetectedObject> objectSupplier){
+    public AimAtGamePiece(Drivetrain drive, BaseDriverConfig driver, Supplier<DetectedObject> objectSupplier){
         super(drive, driver);
         this.objectSupplier = objectSupplier;
     }