mapped rumble to touchpad

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index b646ac80509844b569765bf82fd6c08cc3e90207..818e4c67ce3099ae11de360dd5bb0aac3afde3f7 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -181,6 +181,12 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                 hood.stopCalibrating();
             }));
         }
+
+        // rumble test
+        controller.get(PS5Button.TOUCHPAD).onTrue(new SequentialCommandGroup(
+                new InstantCommand(() -> controller.rumbleOn()),
+                new WaitCommand(0.5),
+                new InstantCommand(() -> controller.rumbleOff())));
     }
 
     @Override

diff --git a/src/main/java/lib/controllers/PS5Controller.java b/src/main/java/lib/controllers/PS5Controller.java
index 8f45a52c8a85eb6994aa108a7de06cc7986aeade..3f6b9c2a24c3a6b3e4aceb10f8f697aff4ebe169 100644 (file)
--- a/src/main/java/lib/controllers/PS5Controller.java
+++ b/src/main/java/lib/controllers/PS5Controller.java
@@ -106,10 +106,14 @@ public class PS5Controller extends Controller {
     public Joystick get() {
         return controller;
     }
-    public void rumbleOn(){
-        controller.setRumble(RumbleType.kBothRumble,0.1);
+
+    public void rumbleOn() {
+        controller.setRumble(Joystick.RumbleType.kLeftRumble, 1.0);
+        controller.setRumble(Joystick.RumbleType.kRightRumble, 1.0);
     }
-    public void rumbleOff(){
-        controller.setRumble(RumbleType.kBothRumble,0);
+
+    public void rumbleOff() {
+        controller.setRumble(Joystick.RumbleType.kLeftRumble, 0.0);
+        controller.setRumble(Joystick.RumbleType.kRightRumble, 0.0);
     }
 }
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