From: moo <moogoesmeow123@gmail.com>
Date: Sun, 22 Feb 2026 20:38:44 +0000 (-0800)
Subject: allow xbox controllers again
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=3fe0811999b32429625a4375127d3dec09acd5f9;p=FRC2026.git

allow xbox controllers again
---

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index aab87c8..377285c 100644
--- 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 5c17630..28775d4 100644
--- 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 ad8eef6..fc908dc 100644
--- 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;
     }