def driveJoystick(self, joystick):
precision = False
#set the axes & pass them to the drive_control utility library
#-----------------------------------------------------------------------
#the getX() and getY() bits are both 0 indexed according to the joystick
#documentation for WPIlib, so X = 0, Y = 1, Z = 2, twist (supposedly) =
#3, etc. The thing is, the default throttle axis is set to 3, and the
#default twist axis is set to 2.
#So.
#When we tested previous versions on the robot with getRawAxis(3), the
#throttle would do the things (different joystick setup on Lopez Jr
#iirc, so that's part of it).
#Now (1/5/16), I've set getRawAxis(2). Works fine.
x = drive_control(joystick.getX(), precision)
y = drive_control(joystick.getY(), precision)
z = z_control(joystick.getRawAxis(2), precision)
a = 0
self.driveManual(x, y, a, z)
if x>1:
x=1
elif x<-1:
x=-1
def driveJoystick(self, joystick):
#Start precision mode
precision = True
#set the axes & pass them to the drive_control utility library
#-----------------------------------------------------------------------
#the getX() and getY() bits are both 0 indexed according to the joystick
#documentation for WPIlib, so X = 0, Y = 1, Z = 2, twist (supposedly) =
#3, etc. The thing is, the default throttle axis is set to 3, and the
#default twist axis is set to 2.
#So.
#When we tested previous versions on the robot with getRawAxis(3), the
#throttle would do the things (different joystick setup on Lopez Jr
#iirc, so that's part of it).
#Now (1/5/16), I've set getRawAxis(2). Works fine.
x = drive_control(joystick.getX()*1.25, precision)
y = drive_control(joystick.getY()*1.25, precision)
z = precision_mode(dead_zone(joystick.getRawAxis(2)*2, .1), precision) #I'm gonna be perfectly honest: I have no idea why I didn't just write an additional function similar to drive_control for this
a = 0
self.driveManual(x, y, a, z)
if x>1:
x=1
elif x<-1:
x=-1
def driveJoystick(self, joystick):
precision = True
x = drive_control(joystick.getX()*2, False, False)
y = drive_control(joystick.getY(), False, False)
z = precision_mode(dead_zone(joystick.getRawAxis(3)*.75, .1), False, False)
if x>1:
x=1
elif x<-1:
x=-1
self.driveManual(x,y,z)
def driveJoystick(self, joystick):
"""Get the values from the joystick, and pass them to the driveManual function."""
#Set precision to be false so the drivetrain isn't auto-nerfed
precision = False
# /-twist joystick /-1st precision button /-multiplier so it goes to 1
twist = dead_zone(twist_control(-self.joystick.getRawAxis(2), self.joystick.getRawButton(1))*5, .25)
y = dead_zone(drive_control(-self.joystick.getRawAxis(1), self.joystick.getRawButton(1))*2.5, .25)
# \-main forward joystick \-1st precision button \-multiplier so it goes to 1
#what even is this
if twist>1:
twist=1
elif twist<-1:
twist=-1
self.driveManual(y, twist)
def driveJoystick(self, joystick):
"""Get the values from the joystick, and pass them to the driveManual function."""
#Set precision to be false so the drivetrain isn't auto-nerfed
precision = False
forward = self.joystick.getRawButton(5)
backward = self.joystick.getRawButton(3)
#Theoretically, we could have separate button setups for activating
#precision mode on separate axes. Not sure if that's a good idea.
# /-twist joystick /-1st precision button /-2nd precision button /-multiplier so it goes to 1
twist = twist_control(-self.joystick.getRawAxis(2), self.joystick.getRawButton(0), self.joystick.getRawButton(1))*5
y = drive_control(-self.joystick.getY(), self.joystick.getRawButton(0), self.joystick.getRawButton(1))*2.5
# \-main forward joystick \-1st precision button \-2nd precision button \-multiplier so it goes to 1
#what even is this
if twist>1:
twist=1
elif twist<-1:
twist=-1
#Call the driveManual function for the lulz
self.driveManual(y, twist, forward, backward)
