From 3fe0811999b32429625a4375127d3dec09acd5f9 Mon Sep 17 00:00:00 2001 From: moo Date: Sun, 22 Feb 2026 12:38:44 -0800 Subject: [PATCH] allow xbox controllers again --- src/main/java/frc/robot/RobotContainer.java | 2 +- .../drive_comm/DefaultDriveCommand.java | 18 ++---------------- .../robot/commands/vision/AimAtGamePiece.java | 2 +- 3 files changed, 4 insertions(+), 18 deletions(-) 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 objectSupplier){ + public AimAtGamePiece(Drivetrain drive, BaseDriverConfig driver, Supplier objectSupplier){ super(drive, driver); this.objectSupplier = objectSupplier; } -- 2.39.5