Tank Drive Input Issues

Ethanctuttle · November 11, 2024, 3:30pm

Some of our younger students are working on code for a small tank drive robot. We have tested the code that they have written and if given a hardcoded value, the motors all spin, but when they try to control it with the y-values of an Xbox controller, the input seems to get lost somewhere. Any help would be much appreciated. The code can be found here.

nstrike · November 11, 2024, 3:39pm

github.com

Ethanctuttle3329/TankDriveTalon/blob/main/src/main/java/frc/robot/RobotContainer.java#L26


      
          * subsystems, commands, and trigger mappings) should be declared here.
          */
          public class RobotContainer {
          
           // Replace with CommandPS4Controller or CommandJoystick if needed
           private final CommandXboxController m_driverController = new CommandXboxController(0);
           private final Drivetrain drivetrain = new Drivetrain();
          
           /** The container for the robot. Contains subsystems, OI devices, and commands. */
           public RobotContainer() {
             drivetrain.setDefaultCommand(new TankDriveCommand(m_driverController.getLeftY(), m_driverController.getRightY(), drivetrain));
             // Configure the trigger bindings
             configureBindings();
           }
          
           /**
            * Use this method to define your trigger->command mappings. Triggers can be created via the
            * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
            * predicate, or via the named factories in {@link
            * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
            * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller

This needs to send a supplier,
drivetrain.setDefaultCommand(new TankDriveCommand(m_driverController::getLeftY, m_driverController::getRightY, drivetrain));

and this needs to accept a supplier.

github.com

Ethanctuttle3329/TankDriveTalon/blob/main/src/main/java/frc/robot/commands/TankDriveCommand.java#L8-L9


      
          private final double left, right;

          public TankDriveCommand(double left, double right, Drivetrain drivetrain){

    private final DoubleSupplier left, right;
    public TankDriveCommand(DoubleSupplier left, DoubleSupplier right, Drivetrain drivetrain){

github.com

Ethanctuttle3329/TankDriveTalon/blob/main/src/main/java/frc/robot/commands/TankDriveCommand.java#L22


      
              this.right = right;

              addRequirements(drivetrain);

          }

          

          @Override

          public void initialize(){

          }

          

          @Override

          public void execute(){

              drivetrain.drive(left, right);

          }

          

          @Override

          public void end(boolean interrupted){

              drivetrain.stop();

          }

          

          @Override

          public boolean isFinished(){

              return false;

drivetrain.drive(left.get(), right.get());