Fixed Xbox controller

Team3555 · Jan 30, 2020 · 711681b · 711681b
1 parent bc14caf
commit 711681b
Show file tree

Hide file tree

Showing 3 changed files with 26 additions and 42 deletions.
diff --git a/src/org/aluminati3555/lib/data/AluminatiData.java b/src/org/aluminati3555/lib/data/AluminatiData.java
@@ -33,7 +33,7 @@
  */
 public final class AluminatiData {
     // Library
-    public static final int LIBRARY_VERSION = 9;
+    public static final int LIBRARY_VERSION = 10;
 
     // Robot delay
     public static double robotDelay = 0.02; // Seconds

diff --git a/src/org/aluminati3555/lib/drive/AluminatiDrive.java b/src/org/aluminati3555/lib/drive/AluminatiDrive.java
@@ -328,42 +328,8 @@ public void arcadeDrive(AluminatiJoystick joystick) {
      * Drives the robot using arcade drive
      */
     public void arcadeDrive(AluminatiXboxController controller) {
-        driveHelper.aluminatiDrive(-controller.getSquaredY() * controlCoefficient,
-                controller.getSquaredX() * controlCoefficient, true, (shifter == null) ? true : shifter.isHigh());
-
-        if (!inverted) {
-            left.getMaster().set(ControlMode.PercentOutput, driveHelper.getLeftPower());
-            right.getMaster().set(ControlMode.PercentOutput, driveHelper.getRightPower());
-        } else {
-            left.getMaster().set(ControlMode.PercentOutput, -driveHelper.getRightPower());
-            right.getMaster().set(ControlMode.PercentOutput, -driveHelper.getLeftPower());
-        }
-    }
-
-    /**
-     * Drives the robot using cheesy drive
-     */
-    public void cheesyDrive(AluminatiJoystick joystick, int cheesyDriveButton) {
-        driveHelper.aluminatiDrive(-joystick.getSquaredY() * controlCoefficient,
-                joystick.getSquaredX() * controlCoefficient, joystick.getRawButton(cheesyDriveButton),
-                (shifter == null) ? true : shifter.isHigh());
-
-        if (!inverted) {
-            left.getMaster().set(ControlMode.PercentOutput, driveHelper.getLeftPower());
-            right.getMaster().set(ControlMode.PercentOutput, driveHelper.getRightPower());
-        } else {
-            left.getMaster().set(ControlMode.PercentOutput, -driveHelper.getRightPower());
-            right.getMaster().set(ControlMode.PercentOutput, -driveHelper.getLeftPower());
-        }
-    }
-
-    /**
-     * Drives the robot using cheesy drive
-     */
-    public void cheesyDrive(AluminatiXboxController controller, int cheesyDriveButton) {
-        driveHelper.aluminatiDrive(-controller.getSquaredY() * controlCoefficient,
-                controller.getSquaredX() * controlCoefficient, controller.getRawButton(cheesyDriveButton),
-                (shifter == null) ? true : shifter.isHigh());
+        driveHelper.aluminatiDrive(-controller.getSquaredLeftY() * controlCoefficient,
+                controller.getSquaredRightX() * controlCoefficient, true, (shifter == null) ? true : shifter.isHigh());
 
         if (!inverted) {
             left.getMaster().set(ControlMode.PercentOutput, driveHelper.getLeftPower());

diff --git a/src/org/aluminati3555/lib/drivers/AluminatiXboxController.java b/src/org/aluminati3555/lib/drivers/AluminatiXboxController.java
@@ -71,19 +71,37 @@ private double squareOutput(double input) {
     /**
      * Returns the squared x
      * 
+     * @return The squared left x
+     */
+    public double getSquaredLeftX() {
+        return squareOutput(this.getX(Hand.kLeft));
+    }
+
+    /**
+     * Returns the squared left y
+     * 
+     * @return The squared y
+     */
+    public double getSquaredLeftY() {
+        return squareOutput(this.getY(Hand.kLeft));
+    }
+
+    /**
+     * Returns the squared right x
+     * 
      * @return The squared x
      */
-    public double getSquaredX() {
-        return squareOutput(this.getX());
+    public double getSquaredRightX() {
+        return squareOutput(this.getX(Hand.kRight));
     }
 
     /**
-     * Returns the squared y
+     * Returns the squared right y
      * 
      * @return The squared y
      */
-    public double getSquaredY() {
-        return squareOutput(this.getY());
+    public double getSquaredRightY() {
+        return squareOutput(this.getY(Hand.kRight));
     }
 
     /**