Add controller deadzones to constants

MiamiBeachBots · Jan 24, 2024 · 40aa157 · 40aa157
1 parent 02c41a7
commit 40aa157
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -30,6 +30,8 @@ public static final class CANConstants {
   // USB Devices
   public static final int CONTROLLERUSBINDEX = 0;
   public static final int FLIGHTSTICKUSBINDEX = 1;
+  // On-Controller joystick deadzone
+  public static final double CONTROLLERDEADZONE = 0.1;
 
   // Game Controller Buttons
   // Now In RobotContainer as Native Triggers.

diff --git a/src/main/java/frc/robot/commands/ArmCommand.java b/src/main/java/frc/robot/commands/ArmCommand.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants;
 import frc.robot.HelperFunctions;
 import frc.robot.ShooterState;
 import frc.robot.subsystems.ArmSubsystem;
@@ -40,7 +41,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (!HelperFunctions.inDeadzone(m_yAxis.getAsDouble(), 0.1)) {
+    if (!HelperFunctions.inDeadzone(m_yAxis.getAsDouble(), Constants.CONTROLLERDEADZONE)) {
       m_ArmSubsystem.MoveArmRelative(m_yAxis.getAsDouble() * kMaxRadiansPerInput);
 
     } else if (m_shooterState.isLoaded & !m_shooterState.isLowered) {

diff --git a/src/main/java/frc/robot/commands/DefaultDrive.java b/src/main/java/frc/robot/commands/DefaultDrive.java
@@ -39,8 +39,8 @@ public void initialize() {}
   public void execute() {
     // we include a limit on the drivers speed for safety.
     // Additonally the axis's on the
-    if (!HelperFunctions.inDeadzone(m_left_y.getAsDouble(), 0.1)
-        || !HelperFunctions.inDeadzone(m_right_y.getAsDouble(), 0.1)) {
+    if (!HelperFunctions.inDeadzone(m_left_y.getAsDouble(), Constants.CONTROLLERDEADZONE)
+        || !HelperFunctions.inDeadzone(m_right_y.getAsDouble(), Constants.CONTROLLERDEADZONE)) {
       this.m_driveSubsystem.tankDrive(
           Constants.MAX_SPEED * m_left_y.getAsDouble(),
           Constants.MAX_SPEED * m_right_y.getAsDouble());