Added controller limiter

team401 · Mar 31, 2023 · 5417986 · 5417986
1 parent 79b84d2
commit 5417986
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Showing 3 changed files with 10 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -75,11 +75,11 @@ public static final class DriveConstants {
 
         public static final SimpleMotorFeedforward driveFF = new SimpleMotorFeedforward(0.254, 0.137);
 
-        public static final double maxDriveSpeed = 14.4;
-        public static final double maxTurnRate = 2 * Math.PI;
+        public static final double maxDriveSpeed = 3;
+        public static final double maxTurnRate = Math.PI;
 
         public static final double driveJoystickDeadbandPercent = 0.075;
-        public static final double driveMaxJerk = 200.0;
+        public static final double driveMaxJerk = 100.0;
 
     }
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -57,6 +57,7 @@ private void configureSubsystems() {
             () -> -rightStick.getRawAxis(0),
             true
         ));
+        SmartDashboard.putNumber("Controller Reduction", 1);
 
         //index.setDefaultCommand(new Waiting(index));
         shooter.setDefaultCommand(

diff --git a/src/main/java/frc/robot/commands/DriveWithJoysticks.java b/src/main/java/frc/robot/commands/DriveWithJoysticks.java
@@ -25,6 +25,8 @@ public class DriveWithJoysticks extends CommandBase {
   private final AxisProcessor yProcessor = new AxisProcessor(false);
   private final AxisProcessor omegaProcessor = new AxisProcessor(true);
 
+  private double controllerReduction = 0.1;
+
   /** Creates a new DriveWithJoysticks. */
   public DriveWithJoysticks(Drive drive, DoubleSupplier xPercent, DoubleSupplier yPercent, DoubleSupplier omegaPercent, boolean fieldRelative) {
     this.drive = drive;
@@ -47,9 +49,10 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double xMPerS = xProcessor.processJoystickInputs(xPercent.getAsDouble() * 0.75) * DriveConstants.maxDriveSpeed;
-    double yMPerS = yProcessor.processJoystickInputs(yPercent.getAsDouble() * 0.75) * DriveConstants.maxDriveSpeed;
-    double omegaRadPerS = omegaProcessor.processJoystickInputs(omegaPercent.getAsDouble()) * DriveConstants.maxTurnRate;
+    controllerReduction = SmartDashboard.getNumber("Controller Reduction", controllerReduction);
+    double xMPerS = xProcessor.processJoystickInputs(xPercent.getAsDouble() * 0.75) * DriveConstants.maxDriveSpeed * controllerReduction;
+    double yMPerS = yProcessor.processJoystickInputs(yPercent.getAsDouble() * 0.75) * DriveConstants.maxDriveSpeed * controllerReduction;
+    double omegaRadPerS = omegaProcessor.processJoystickInputs(omegaPercent.getAsDouble()) * DriveConstants.maxTurnRate * controllerReduction;
 
     SmartDashboard.putNumber("XMPerS", xMPerS);