From 2c5d2550af130d6c53ce47fe68db840796b5cf1c Mon Sep 17 00:00:00 2001 From: iefomit Date: Thu, 5 Mar 2026 17:38:55 -0800 Subject: [PATCH] removed default ps5 rumbles, fixed warnings --- controller-tester.html | 70 ------------------- src/main/java/frc/robot/RobotContainer.java | 1 - .../controls/GameControllerDriverConfig.java | 17 ----- .../controls/PS5ControllerDriverConfig.java | 22 +----- .../controls/PS5XboxModeDriverConfig.java | 2 +- .../java/lib/controllers/PS5Controller.java | 17 ++--- 6 files changed, 8 insertions(+), 121 deletions(-) delete mode 100644 controller-tester.html diff --git a/controller-tester.html b/controller-tester.html deleted file mode 100644 index dc5c6c0..0000000 --- a/controller-tester.html +++ /dev/null @@ -1,70 +0,0 @@ - - - - DualSense rumble test - - - -

DualSense rumble test

Not connected

- - - - - - diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 06f6323..1b6e2eb 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -24,7 +24,6 @@ import frc.robot.constants.AutoConstants; import frc.robot.constants.Constants; import frc.robot.controls.BaseDriverConfig; import frc.robot.controls.Operator; -import frc.robot.controls.PS5ControllerDriverConfig; import frc.robot.controls.PS5XboxModeDriverConfig; import frc.robot.subsystems.Climb.LinearClimb; import frc.robot.subsystems.Intake.Intake; diff --git a/src/main/java/frc/robot/controls/GameControllerDriverConfig.java b/src/main/java/frc/robot/controls/GameControllerDriverConfig.java index e30d47c..9c1fdbd 100644 --- a/src/main/java/frc/robot/controls/GameControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/GameControllerDriverConfig.java @@ -6,8 +6,6 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import edu.wpi.first.wpilibj2.command.WaitCommand; import frc.robot.Robot; import frc.robot.constants.Constants; import frc.robot.subsystems.drivetrain.Drivetrain; @@ -38,12 +36,6 @@ public class GameControllerDriverConfig extends BaseDriverConfig { getDrivetrain().setDesiredPose(() -> null); CommandScheduler.getInstance().cancelAll(); })); - - // rumble test - driver.get(Button.A).onTrue(new SequentialCommandGroup( - new InstantCommand(() -> driver.setRumble(GameController.RumbleStatus.RUMBLE_ON)), - new WaitCommand(0.5), - new InstantCommand(() -> driver.setRumble(GameController.RumbleStatus.RUMBLE_OFF)))); } @Override @@ -85,13 +77,4 @@ public class GameControllerDriverConfig extends BaseDriverConfig { public GameController getGameController() { return driver; } - - public void startRumble() { - driver.setRumble(GameController.RumbleStatus.RUMBLE_ON); - } - - public void endRumble() { - driver.setRumble(GameController.RumbleStatus.RUMBLE_OFF); - } - } diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index e8919a1..127a2be 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -8,8 +8,6 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import edu.wpi.first.wpilibj2.command.WaitCommand; import frc.robot.Robot; import frc.robot.commands.gpm.AutoShootCommand; import frc.robot.commands.gpm.ClimbDriveCommand; @@ -93,7 +91,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { if (intake != null && spindexer != null && shooter != null) { controller.get(PS5Button.CIRCLE).onTrue(new InstantCommand(() -> { reverseMotors = new ReverseMotors(intake, spindexer); - reverseMotors.schedule(); + CommandScheduler.getInstance().schedule(reverseMotors); })).onFalse(new InstantCommand(() -> { if (reverseMotors != null) { reverseMotors.cancel(); @@ -164,12 +162,8 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { climb.retract(); })); - // Drive to climb position and rumble - controller.get(PS5Button.TRIANGLE).onTrue(new SequentialCommandGroup( - new ClimbDriveCommand(climb, getDrivetrain()), - new InstantCommand(() -> this.startRumble()), - new WaitCommand(1), - new InstantCommand(() -> this.endRumble()))); + // Drive to climb position + controller.get(PS5Button.TRIANGLE).onTrue(new ClimbDriveCommand(climb, getDrivetrain())); } // Hood @@ -217,14 +211,4 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { public boolean getIsAlign() { return false; } - - // doesn't work on ps5 controllers, use PS5XboxModeDriverConfig instead - public void startRumble() { - controller.rumbleOn(); - } - - // doesn't work on ps5 controllers, use PS5XboxModeDriverConfig instead - public void endRumble() { - controller.rumbleOff(); - } } diff --git a/src/main/java/frc/robot/controls/PS5XboxModeDriverConfig.java b/src/main/java/frc/robot/controls/PS5XboxModeDriverConfig.java index adb696e..e2f6879 100644 --- a/src/main/java/frc/robot/controls/PS5XboxModeDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5XboxModeDriverConfig.java @@ -126,7 +126,7 @@ public class PS5XboxModeDriverConfig extends BaseDriverConfig { if (intake != null && spindexer != null && shooter != null) { controller.get(CIRCLE).onTrue(new InstantCommand(() -> { reverseMotors = new ReverseMotors(intake, spindexer); - reverseMotors.schedule(); + CommandScheduler.getInstance().schedule(reverseMotors); })).onFalse(new InstantCommand(() -> { if (reverseMotors != null) { reverseMotors.cancel(); diff --git a/src/main/java/lib/controllers/PS5Controller.java b/src/main/java/lib/controllers/PS5Controller.java index 3f6b9c2..ea65f05 100644 --- a/src/main/java/lib/controllers/PS5Controller.java +++ b/src/main/java/lib/controllers/PS5Controller.java @@ -1,7 +1,6 @@ package lib.controllers; import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj.GenericHID.RumbleType; import edu.wpi.first.wpilibj2.command.button.Trigger; import java.util.function.BooleanSupplier; @@ -57,11 +56,13 @@ public class PS5Controller extends Controller { LEFT_Y(1), RIGHT_X(2), /** - * note: ps5 controller trigger goes from -1 when unpressed, to 1 when fully pressed + * note: ps5 controller trigger goes from -1 when unpressed, to 1 when fully + * pressed */ LEFT_TRIGGER(3), /** - * note: ps5 controller trigger goes from -1 when unpressed, to 1 when fully pressed + * note: ps5 controller trigger goes from -1 when unpressed, to 1 when fully + * pressed */ RIGHT_TRIGGER(4), RIGHT_Y(5); @@ -106,14 +107,4 @@ public class PS5Controller extends Controller { public Joystick get() { return controller; } - - public void rumbleOn() { - controller.setRumble(Joystick.RumbleType.kLeftRumble, 1.0); - controller.setRumble(Joystick.RumbleType.kRightRumble, 1.0); - } - - public void rumbleOff() { - controller.setRumble(Joystick.RumbleType.kLeftRumble, 0.0); - controller.setRumble(Joystick.RumbleType.kRightRumble, 0.0); - } } \ No newline at end of file -- 2.39.5