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Controller bindings

All bindings are implemented in robot_container.py inside _setup_controller_bindings. If this document disagrees with the code, trust the code and update this page.

Controllers

Controller USB order Role
Driver 0 Drive, intake
Function (operator) 1 Superstructure goals, manual launcher spin-up, turret presets, climber

Driver (port 0)

Default command (always on unless another command owns the drivetrain)

Input Action
Left stick Y Forward / backward (field-relative when field-centric)
Left stick X Strafe
Right stick X Turn rate

While held / edge

Control Trigger style Action
Left bumper whileTrue Robot-centric drive (same sticks, robot-relative)
Right bumper whileTrue / onFalse Intake on / STOP off — only if intake subsystem exists
Right trigger axis > 0.75, whileTrue / onFalse Intake OUTPUT (eject) on / STOP off — only if intake exists
A whileTrue Swerve brake
X whileTrue Point wheels in direction of left stick
Start onTrue Seed field-centric heading (seed_field_centric)

Function (port 1)

Bindings depend on which subsystems exist on the current robot (has_subsystem / non-None instances).

Launcher present

Control Trigger style Action
Right trigger > 0.75, whileTrue / onFalse Superstructure.Goal.LAUNCH while held; STOPLAUNCH on release
Left trigger > 0.75, whileTrue / onFalse Launcher SCORE while held; IDLE on release (flywheel / score state on launcher subsystem directly)

Turret and hood present

Button Trigger Action
Y onTrue Superstructure AIMHUB
X onTrue AIMDEPOT
B onTrue AIMOUTPOST
A onTrue DEFAULT goal
Start onTrue override_checks() on superstructure

Climber present

Control Trigger Action
D-pad Up onTrue Climber EXTEND
D-pad Down onTrue Climber STOW

Feeder

There is no dedicated feeder axis/button on the function controller in the current robot_container wiring. Feeder states are driven by superstructure goals (for example intake and launch modes) and by PathPlanner named commands.

Autos vs. teleop

PathPlanner named commands can combine goals (e.g. Launch may run superstructure launch together with intake). See ../deploy/pathplanner.md.