VS Code - Simple button - Xbox - Talon SRX

Technical Java
1

We’re missing something…we had no trouble doing the drive train, but we’re struggling with just getting a button to respond on an Xbox controller. Does anyone have a sample piece of code that just turns on a motor with a single button push. I would post our code but its so messed up at the moment I think it would do more harm than good.

Thanks!

2

Here is an example of a wpilib Command that interacts with our DriveTrain class:

package frc.robot.commands.drivetrain;

import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.Robot;

public class TurnWithoutPID extends Command {
	private double goalAngle = 0.0;
	private boolean isDone = false;
	private double speed;
	private double tolerance = 3;
	private double currentAngle;
	
    public TurnWithoutPID(double speed, double givenAngle) {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
    	requires(Robot.drivetrain);
    	goalAngle = givenAngle;
    	this.speed = speed;
    	isDone = false;
    }

    // Called just before this Command runs the first time
    protected void initialize() {
    	Robot.drivetrain.resetAHRSGyro();
    	isDone = false;
 

    	//Robot.drivetrain.setAHRSAdjustment(80.0);
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
    	currentAngle = Robot.drivetrain.getAHRSGyroAngle();
    	SmartDashboard.putNumber("Gyro: ", currentAngle);
    	if(Math.abs(goalAngle - currentAngle) < tolerance) {  //if within tolerance
    		Robot.drivetrain.arcadeDrive(0, 0);
    		isDone = true;
    	} else if(currentAngle < goalAngle) {  //If left of target angle
    		Robot.drivetrain.arcadeDrive(0, speed);  //turn clockwise
    	} else if(currentAngle > goalAngle){  //If right of target angle
    		Robot.drivetrain.arcadeDrive(0, -speed);  //turn counterclockwise
    	}
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
    	return isDone;
    }

    // Called once after isFinished returns true
    protected void end() {
    	Robot.drivetrain.setAHRSAdjustment(0.0);
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    	Robot.drivetrain.arcadeDrive(0, 0);
    	isDone = true;
    }
}

Here is the code that assigns that command to a button:

public class OI {
	/*
	 *  This class describes the controller interface the drive team will use. Here we will keep track of the 
	 * available buttons that exist on each gamepad.  When a new gamepad button is assigned a command, it 
	 * needs to be taken off the available button list, and added to the taken list.  That way we eliminate
	 * the duplication of buttons as we move.
	 * 
	 * Gamepad 0 -- Driver remote
	 * Inputs Available  --  A, B, X, Y, LB, RB, LT, RT
	 * Inputs Taken -- LY - Transitional Speed arcade drive
	 * 				   RX - Yaw Speed arcade drive
	 * 
	 * Gamepad 1 -- Partner remote
	 * Inputs Available  -- A, B, X, Y, LB, RB, LT, RT, L Axis, R Axis  
	 */
	
	public F310 gamepad;
	public F310 gamepad2;
	
	JoystickButton driver_x;

	public OI() {
		gamepad = new F310(RobotMap.GAMEPAD_PORT);
		gamepad2 = new F310(RobotMap.GAMEPAD2_PORT);
		
		driver_x = new JoystickButton(F310.X); // We integers mapped in a different class
		driver_x.whenPressed(new TurnWithoutPID(90));  // Turn 90 degrees to the right when we press the button
	}
	
	public double getGainOI() {
		return F310.getGain();
	}
}
3

And just in case you were wondering about the F310 stuff:

package frc.robot.oi;
import edu.wpi.first.wpilibj.Joystick;

// Custom Gamepad class
public class F310 extends Joystick {

	private static final int numAxes = 6;
	private static final int numButtons = 10;
	
	// Constants to represent the raw button number with a human readable word
	public static final int A = 1;
	public static final int B = 2;
	public static final int X = 3;
	public static final int Y = 4;
	public static final int LB = 5; //top button
	public static final int RB = 6; //top button
	public static final int START = 8;
	public static final int BACK = 7;
	public static final int L_AXIS = 8;
	public static final int R_AXIS = 9;
	
	//Same as above for axis
	public static final int LX = 0; //0
	public static final int RX = 4;	//4
	public static final int LY = 1;	//1
	public static final int RY = 5;	//5
	public static final int LT = 2;	//2
	public static final int RT = 3;	//3
	
	private double[] scalar = new double[numAxes];
	
	private static double gain = 0.5;
	
	public F310(int port) {
		//needed to call super constructor in order for F310 to extend Joystick
		super(port);	
	}
	
	public static double getGain() {
		return gain;
	}
	
	public static void setGain(double g) {
		gain = g;
	}
	
	//call enum Buttons
	public boolean getButton(int buttons) {
		if(buttons < 0 || buttons >= numButtons) return false;
		return this.getRawButton(buttons);
	}
	
	//calls enum Axis
	public double getAxis(int axis) {
		if(axis < 0 || axis >= numAxes) return 0.0;
		double x = this.getRawAxis(axis);
		return gain * Math.pow(x, 3) + (1 - gain) * x;
	}
	
	//scales and axis by calling an axis and gives it a value
	public void setScalar(int axis, double value) {
		if(axis < 0 || axis >= numAxes) return;
		scalar[axis] = value;
	}
}
4

Just curious, why not use the edu.wpi.first.wpilibj.XboxController class?