Control Board

The DriverControls class handles input from the driver and co-driver Xbox controllers and translates these inputs into commands for the robot’s subsystems.

Overview

  • ControlBoard instance: Centralizes access to driver and co-driver controllers.

  • Subsystem instances: Drive and Superstructure are accessed and commanded based on input.

  • Two control modes:

    • One Controller Mode for simple operation.

    • Two Controller Mode for full robot control during competition.

Controller Variables

CustomXboxController driver = mControlBoard.driver;
CustomXboxController codriver = mControlBoard.operator;

  • driver: Represents the primary Xbox controller operated by the driver.

  • codriver: Represents the secondary Xbox controller operated by the co-driver (operator).

  • These objects provide access to button states, trigger axes, and POV (D-pad) directions.

Button and Input Handling

Buttons and inputs are queried with methods like:

  • driver.leftBumper.isBeingPressed(): Returns true while the left bumper button on the driver’s controller is held down.

  • driver.getAButton(): Returns true if the A button is currently pressed.

  • codriver.getRightTriggerAxis() == 1: Checks if the right trigger is fully pressed on the co-driver’s controller.

  • driver.POV270.isBeingPressed(): Checks if the D-pad is pressed in the 270° (left) direction.

You can also detect button presses/releases for event-driven actions, e.g., driver.releasedAny(...) or codriver.getStartButtonPressed().

Control Modes

One Controller Mode

  • Usage: When only one controller is available.

  • Functionality: Basic commands such as zeroing the gyro, moving the intake deploy subsystem.

  • Ideal for: Outreach events, demos, early development/testing.

Two Controller Mode

  • Usage: When both driver and co-driver controllers are active.

  • Driver responsibilities:

    • Driving (including gyro zeroing and auto-alignment).

    • When to actually move the robot/score

  • Co-driver responsibilities:

    • Emergency movements (ex.Intake up)

    • Scoring locations (What happens when the driver presses score)

    • Code overrides (We make mistakes, this lets us keep playing if we do)

  • Ideal for: Competition matches and advanced testing, allowing multitasking and precise control.

Example Input Usage

if(driver.leftBumper.isBeingPressed()){
    s.setGoal(GoalState.GROUND_CORAL_INTAKE);
}

  • This code checks if the driver's left bumper is currently held down.

  • While held, it sets the robot’s superstructure goal state to GROUND_CORAL_INTAKE.

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