Chief Delphi - Xbox Controller with mecanum drive

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VrewDaive

01-26-2016 02:34 PM

Xbox Controller with mecanum drive

Hello, I'm a first year FRC programmer and was curious on how to use the Xbox 360 controller as both joysticks for the

Code:

myDrive.mecanumDrive_Polar(moveStick.getY(),moveStick.getX() , rotateStick.getTwist());

I don't know how to designate the certain sticks of the controller to either moveStick or Rotate stick and also am confused on how to assign them in the declaration

Code:

myDrive =  new RobotDrive(0,1,2,3);

            moveStick = new Joystick(1);

            rotateStick = new Joystick(2);

Any help appreciated; Ive already looked over the other chief delphi post over this subject but am still lost. Thanks!!

Arhowk

01-26-2016 06:45 PM

Re: Xbox Controller with mecanum drive

getY() and getX() are intended for flightstick not xbox controllers

i think the code you want is

Code:

robotDrive.mecanumDrive_Cartesian(joystick.getRawAxis(whateverYourXAxisIs), joystick.getRawAxis(whateverYourYAxisIs), joystick.getRawAxis(whateverYourRotateAxisIs), whateverYourGyroValueIs)

TimTheGreat

01-26-2016 10:45 PM

Re: Xbox Controller with mecanum drive

The buttons on the controller follow this mapping

1: A
2: B
3: X
4: Y
5: Left Bumper
6: Right Bumper
7: Back
8: Start
9: Left Joystick
10: Right Joystick

The axis on the controller follow this mapping
(all output is between -1 and 1)

1: Left Stick X Axis
-Left:Negative ; Right: Positive
2: Left Stick Y Axis
-Up: Negative ; Down: Positive
3: Triggers
-Left: Positive ; Right: Negative
4: Right Stick X Axis
-Left: Negative ; Right: Positive
5: Right Stick Y Axis
-Up: Negative ; Down: Positive
6: Directional Pad (Not recommended, buggy)

taken from http://www.chiefdelphi.com/forums/sh...45&postcount=8

VrewDaive

01-27-2016 02:02 PM

Re: Xbox Controller with mecanum drive

so would something like this work as expected?

Code:

     */  RobotDrive myDrive;

            Joystick moveStick;

            Gyro gyro;

            

    

    public void robotInit() {

            Talon TalLF = new Talon(0);

            Talon TalLR = new Talon(1);

            Talon TalRF = new Talon(2);

            Talon TalRR = new Talon(3);

            myDrive =  new RobotDrive(TalLF,TalLR,TalRF,TalRR);

            moveStick = new Joystick(1);

            

    }



    /**

     * This function is called periodically during autonomous

     */

    public void autonomousPeriodic() {



    }



    /**

     * This function is called periodically during operator control

     */

    public void teleopPeriodic() {

            

            //while(!isAutonomous() && isEnabled())

            //{

                    //myDrive.mecanumDrive_Polar(moveStick.getRawAxis(1),moveStick.getRawAxis(2) , moveStick.getRawAxis(4));

                    myDrive.mecanumDrive_Cartesian(moveStick.getRawAxis(1), moveStick.getRawAxis(2), moveStick.getRawAxis(5), gyro.getAngle());

                    Timer.delay(0.01);

            //}

        

    }

TimTheGreat

01-27-2016 07:00 PM

Re: Xbox Controller with mecanum drive

Quote:

Originally Posted by VrewDaive (Post 1530993)

so would something like this work as expected?

Code:

    

                    myDrive.mecanumDrive_Cartesian(moveStick.getRawAxis(1), moveStick.getRawAxis(2), moveStick.getRawAxis(5), gyro.getAngle());

            //}

        

    }

Yeah that should work.

Also, are you meaning to do field-oriented drive (pushing up on the left joystick makes the robot move away from you, no matter which way it's pointing)?

CjDace

01-28-2016 09:46 AM

Re: Xbox Controller with mecanum drive

honestly at this point no. I just want the drive to work correctly, Do we have the gyro assigned correctly?

Code:

  RobotDrive myDrive, catcherDrive;

                    Joystick moveStick;

                    Gyro gyro; 

myDrive.mecanumDrive_Cartesian(moveStick.getRawAxis(1), moveStick.getRawAxis(1), moveStick.getRawAxis(1), gyro.getAngle());

VrewDaive

01-28-2016 09:48 AM

Re: Xbox Controller with mecanum drive

that was me.... on a different account

TimTheGreat

01-28-2016 05:09 PM

Re: Xbox Controller with mecanum drive

Quote:

Originally Posted by CjDace (Post 1531442)

honestly at this point no. I just want the drive to work correctly, Do we have the gyro assigned correctly?

Code:

  RobotDrive myDrive, catcherDrive;

                    Joystick moveStick;

                    Gyro gyro; 

myDrive.mecanumDrive_Cartesian(moveStick.getRawAxis(1), moveStick.getRawAxis(1), moveStick.getRawAxis(1), gyro.getAngle());

Well you don't create it, at least in the code you show here. If you don't want field-oriented get rid of the gyro.getAngle() in the mecanumDrive constructor and replace with 0.

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