Merge pull request #60 from aaditsangvikar/new-controller-type

Fixing triggers using new controller type. NEEDS TESTING!!!

Author: TotalTaxAmount

src/main/java/org/blackknights/RobotContainer.java

@@ -6,6 +6,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.*;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import java.util.function.Supplier;
 import org.blackknights.commands.*;
 import org.blackknights.constants.ScoringConstants;
@@ -28,8 +29,8 @@ public class RobotContainer {
     ButtonBoardSubsystem buttonBoardSubsystem = new ButtonBoardSubsystem(buttonBoard);
 
     // Controllers
-    Controller primaryController = new Controller(0);
-    Controller secondaryController = new Controller(1);
+    CommandXboxController primaryController = new CommandXboxController(0);
+    CommandXboxController secondaryController = new CommandXboxController(1);
 
     private final NetworkTablesUtils NTTune = NetworkTablesUtils.getTable("debug");
 
@@ -88,20 +89,26 @@ private void configureBindings() {
                         true,
                         true));
 
-        primaryController.leftBumper.whileTrue(
-                getPlaceCommand(() -> coralQueue.getCurrentPosition(), () -> coralQueue.getNext()));
-
-        primaryController.rightBumper.whileTrue(
-                new ParallelCommandGroup(
-                        new ElevatorArmCommand(
-                                elevatorSubsystem,
-                                armSubsystem,
-                                () -> ScoringConstants.ScoringHeights.INTAKE),
-                        new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.INTAKE)));
+        primaryController
+                .leftBumper()
+                .whileTrue(
+                        getPlaceCommand(
+                                () -> coralQueue.getCurrentPosition(), () -> coralQueue.getNext()));
+
+        primaryController
+                .leftBumper()
+                .whileTrue(
+                        new ParallelCommandGroup(
+                                new ElevatorArmCommand(
+                                        elevatorSubsystem,
+                                        armSubsystem,
+                                        () -> ScoringConstants.ScoringHeights.INTAKE),
+                                new IntakeCommand(
+                                        intakeSubsystem, IntakeCommand.IntakeMode.INTAKE)));
 
         elevatorSubsystem.setDefaultCommand(new BaseCommand(elevatorSubsystem, armSubsystem));
 
-        primaryController.dpadDown.whileTrue(new RunCommand(() -> swerveSubsystem.zeroGyro()));
+        primaryController.povDown().whileTrue(new RunCommand(() -> swerveSubsystem.zeroGyro()));
 
         // SECONDARY CONTROLLER
 
@@ -113,32 +120,53 @@ private void configureBindings() {
         //        secondaryController.rightBumper.onTrue(new InstantCommand(() ->
         // coralQueue.stepForwards()));
 
-        secondaryController.aButton.whileTrue(
-                new ElevatorArmCommand(
-                        elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L1));
+        secondaryController
+                .a()
+                .whileTrue(
+                        new ElevatorArmCommand(
+                                elevatorSubsystem,
+                                armSubsystem,
+                                () -> ScoringConstants.ScoringHeights.L1));
 
-        secondaryController.bButton.whileTrue(
-                new ElevatorArmCommand(
-                        elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L2));
+        secondaryController
+                .b()
+                .whileTrue(
+                        new ElevatorArmCommand(
+                                elevatorSubsystem,
+                                armSubsystem,
+                                () -> ScoringConstants.ScoringHeights.L2));
 
-        secondaryController.xButton.whileTrue(
-                new ElevatorArmCommand(
-                        elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L3));
+        secondaryController
+                .x()
+                .whileTrue(
+                        new ElevatorArmCommand(
+                                elevatorSubsystem,
+                                armSubsystem,
+                                () -> ScoringConstants.ScoringHeights.L3));
 
-        secondaryController.yButton.whileTrue(
-                new ElevatorArmCommand(
-                        elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L4));
+        secondaryController
+                .y()
+                .whileTrue(
+                        new ElevatorArmCommand(
+                                elevatorSubsystem,
+                                armSubsystem,
+                                () -> ScoringConstants.ScoringHeights.L4));
+
+        secondaryController
+                .leftBumper()
+                .onTrue(new InstantCommand(() -> coralQueue.stepForwards()));
 
-        secondaryController.leftBumper.onTrue(new InstantCommand(() -> coralQueue.stepForwards()));
+        secondaryController
+                .rightBumper()
+                .onTrue(new InstantCommand(() -> coralQueue.stepBackwards()));
 
-        secondaryController.rightBumper.onTrue(
-                new InstantCommand(() -> coralQueue.stepBackwards()));
+        secondaryController
+                .rightTrigger(0.2)
+                .whileTrue(new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.OUTTAKE));
 
-        //        secondaryController.rightTrigger.whileTrue(
-        //                new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.OUTTAKE));
-        //
-        //        secondaryController.leftTrigger.whileTrue(
-        //                new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.INTAKE));
+        secondaryController
+                .leftTrigger(0.2)
+                .whileTrue(new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.INTAKE));
     }
 
     /** Runs once when the code starts */

src/main/java/org/blackknights/commands/ClimberCommand.java

@@ -2,35 +2,36 @@
 package org.blackknights.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import org.blackknights.subsystems.ClimberSubsystem;
 import org.blackknights.utils.Controller;
 
 /** Climber command to control the climber */
 public class ClimberCommand extends Command {
     public ClimberSubsystem climberSubsystem;
-    public Controller controller;
+    public CommandXboxController controller;
 
     /**
      * Command to controller the climber, right now over pure voltage
      *
      * @param climberSubsystem The instance of {@link ClimberSubsystem}
      * @param controller A {@link Controller} to control the climber
      */
-    public ClimberCommand(ClimberSubsystem climberSubsystem, Controller controller) {
+    public ClimberCommand(ClimberSubsystem climberSubsystem, CommandXboxController controller) {
         this.climberSubsystem = climberSubsystem;
         this.controller = controller;
         addRequirements(climberSubsystem);
     }
 
     @Override
     public void execute() {
-        if (controller.dpadDown.getAsBoolean()) {
+        if (controller.povDown().getAsBoolean()) {
             climberSubsystem.setClimberSpeed(1);
-        } else if (controller.dpadUp.getAsBoolean()) {
+        } else if (controller.povUp().getAsBoolean()) {
             climberSubsystem.setClimberSpeed(-1);
-        } else if (controller.dpadLeft.getAsBoolean()) {
+        } else if (controller.povLeft().getAsBoolean()) {
             climberSubsystem.setLockSpeed(0.5);
-        } else if (controller.dpadRight.getAsBoolean()) {
+        } else if (controller.povRight().getAsBoolean()) {
             climberSubsystem.setLockSpeed(-0.5);
         } else {
             climberSubsystem.setClimberSpeed(0);