[TimTheGreat]

Originally Posted by 414cnewq

The space after the D in : DriveDirectoinal is not a glitch. The : D was turning into when I posted the comment.

Our team created something like this in Python last year. We call it a debounce button.

import wpilib

class Button:
    '''Useful utility class for debouncing buttons'''
    
    def __init__(self,joystick,buttonnum):
        self.joystick=joystick
        self.buttonnum=buttonnum
        self.latest = 0
        self.timer = wpilib.Timer()
        
    def get(self):
        '''Returns the value of the button. If the button is held down, then
        True will only be returned once every 600ms'''
        
        now = self.timer.getMsClock()
        if(self.joystick.getRawButton(self.buttonnum)):
            if (now-self.latest) > 600: 
                self.latest = now
                return True
        return False

Basically, create a separate class with a get method, and in the get method, if the current time - the last time it returned true is greater than 600ms, return true again or else return false. The problem with just having a method that multiplies the y value by -1 is if you hold the button down for longer than one cycle (20ms? ish) than it will reverse again, and the robot will go back and forth between reversed and not reversed. Having this timer helps a lot.