Joystick Drive

[npmanos]

Overview

Drive the robot with an Xbox controller.

Tasks

• Create MecanumDriveSubsystem
• Create MecanumJoystickDrive in RobotContainer
• Set command as subsystem's default command
• Calculate correct chassis wheel speeds for odometry

Notes

Blocked by:

• Add tigerlib templates to VS Code #3

[npmanos]

Proceeded without resolving #3. It would have made things easier but really isn't a show stopper.

[fabrice-fouron]

@npmanos The X and Y axes are not set as intended. Pushing the joystick forward make the robot move right. I think the xSpeed and ySpeed in the drive.cartesian() command in MecanumJoystickDrive will have to be changed.

[npmanos]

@fabrice-fouron That's a bug in itrt4176/tigerlib. It's on my todo list to fix.

I thought we worked around it by overriding drive() in the subsystem?

[fabrice-fouron]

Oh yeah we did on my computer. Evan and I deployed code from the driver station that didn't have the overridden method. That's why.