Improve chassis control

ZodiacEFZ · Oct 9, 2024 · 23e040e · 23e040e
1 parent f762b00
commit 23e040e
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Showing 4 changed files with 18 additions and 4 deletions.
diff --git a/src/main/java/frc/libzodiac b/src/main/java/frc/libzodiac
diff --git a/src/main/java/frc/robot/Commands/Auto.java b/src/main/java/frc/robot/Commands/Auto.java
@@ -45,7 +45,7 @@ public AutoCommand init() {
     private static final Timer timer = new Timer();
     private static AutoCommand command;
     private static Chassis chassis;
-    ZPath path = new ZPath("");
+    ZPath path = new ZPath(""); //todo
 
     public Auto(RobotContainer robot, AutoCommand cmd) {
         chassis = require(robot.chassis);

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -6,11 +6,16 @@
 
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import frc.robot.subsystems.Chassis;
 
 public class Robot extends TimedRobot {
     private RobotContainer robotContainer;
 
+    protected Robot() {
+        addPeriodic(() -> {
+            robotContainer.chassis.update();
+        }, 0.05, 0.02);
+    }
+
     @Override
     public void robotInit() {
         robotContainer = new RobotContainer();

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -23,7 +23,16 @@ public class RobotContainer {
     /**
      * The command to drive the robot.
      */
-    public final Command drive = this.chassis.drive(driver.ly().inverted().threshold(0.02).map(Axis.ATAN_FILTER), driver.lx().inverted().threshold(0.02).map(Axis.ATAN_FILTER), driver.rx().inverted().threshold(0.02), driver.ry().inverted().threshold(0.02), driver.rt().as_button(0.2), driver.lt().as_button(0.2), driver.lb());
+    public final Command drive = this.chassis.drive(
+            driver.l().inverted().threshold(0.02).map(Axis.ATAN_FILTER),
+            driver.r().inverted().threshold(0.02).map(Axis.ATAN_FILTER),
+            driver.lx().inverted().threshold(0.02).map(Axis.ATAN_FILTER),
+            driver.ly().inverted().threshold(0.02).map(Axis.ATAN_FILTER),
+            driver.rx().inverted().threshold(0.02).map(Axis.ATAN_FILTER),
+            driver.ry().inverted().threshold(0.02).map(Axis.ATAN_FILTER),
+            driver.rt().as_button(0.2),
+            driver.lt().as_button(0.2),
+            driver.lb());
 
     public RobotContainer() {
         this.configureBindings();
+2 −1		Zubsystem.java
+6 −6		Zwerve.java
+1 −0		hardware/Limelight.java
+1 −1		ui/Axis.java
+48 −0		ui/Axis2D.java
+30 −5		ui/Xbox.java