Robot spins continuous with command of right Xbox controller

[kreidljj]

Overall implementation is going great - thank you for this! We use Xbox controllers, the left stick is properly working commanding forward and back, left and right. I can't seem to get the right stick (axis 4) to control rotation. The robot will spin continuously in the direction it is commanded, until the right stick is moved in the y axis, it will then eventually stop rotating. I started from the example project with minor updates to cover our modules and the Xbox controller. I know it is something simple, any ideas? Below are snips of the code that I 'think' are pertinent. Thanks in advance - Jason

XboxController driverXbox = new XboxController(0);
AbsoluteDrive closedAbsoluteDrive = new AbsoluteDrive(drivebase,
() -> MathUtil.applyDeadband(driverXbox.getLeftY(),
OperatorConstants.LEFT_Y_DEADBAND),
() -> MathUtil.applyDeadband(driverXbox.getLeftX(),
OperatorConstants.LEFT_X_DEADBAND),
() -> MathUtil.applyDeadband(driverXbox.getRightX(),
OperatorConstants.LEFT_X_DEADBAND),
() -> MathUtil.applyDeadband(driverXbox.getRightY(),
OperatorConstants.LEFT_Y_DEADBAND),
false);

AbsoluteFieldDrive closedFieldAbsoluteDrive = new AbsoluteFieldDrive(drivebase,
 () ->
     MathUtil.applyDeadband(driverXbox.getLeftY(),
                            OperatorConstants.LEFT_Y_DEADBAND),
 () -> MathUtil.applyDeadband(driverXbox.getLeftX(),
                              OperatorConstants.LEFT_X_DEADBAND),
 () -> MathUtil.applyDeadband(driverXbox.getRightX(),
                              OperatorConstants.LEFT_X_DEADBAND),
                              false);

TeleopDrive simClosedFieldRel = new TeleopDrive(drivebase,
() -> MathUtil.applyDeadband(driverXbox.getLeftY(),
                             OperatorConstants.LEFT_Y_DEADBAND),
() -> MathUtil.applyDeadband(driverXbox.getLeftX(),
                             OperatorConstants.LEFT_X_DEADBAND),
() -> MathUtil.applyDeadband(driverXbox.getRightX(),
                             OperatorConstants.LEFT_X_DEADBAND),
() -> true, false, false); //headingCorrection was true

TeleopDrive closedFieldRel = new TeleopDrive(drivebase,
  () -> MathUtil.applyDeadband(driverXbox.getLeftY(),
  OperatorConstants.LEFT_Y_DEADBAND),
  () -> MathUtil.applyDeadband(driverXbox.getLeftX(),
  OperatorConstants.LEFT_X_DEADBAND),
  () -> MathUtil.applyDeadband(driverXbox.getRightX(),
  OperatorConstants.LEFT_X_DEADBAND),

() -> true, false, false); //headingCorrection was true

[thenetworkgrinch]

Have you tried inverting your gyro? I have a setting for it in one of the configs, also turn off heading correction. Maybe try turning off heading correction first.

[thenetworkgrinch]

Can you send a video of your controller + the frc-web-components app with the swerve drive widget?

[kreidljj]

I will, the robot isn't with me until next week. The FRC-Web-Components is very slick! On chiefdelphi one of the intro discussions says that YAGSL builds a SmartDashboard that shows the modules and more information. How are these dashboards loaded, I can't seem to find them? - Jason

[thenetworkgrinch]

I got rid of them bc it kept using too many resources on my computer and would crash others. Thats why i switch YAGSL to use frc-web-components

[kreidljj]

I would like to document our error and close this question out. First, there was / is nothing wrong with YAGSL - it works as designed. The robot that I was implementing this on is a very compact swerve robot, like 10.5" center to center wheel distance compact. This meant that the RoboRio was mounted at a 45 degree angle (in the Z) to the chassis, with a NavX2 mounted on it. This twist in the gyro relative to the frame, even with a full calibration was a problem. The solution was to mount a Pigeon2 to the robot, but that also meant adding a CANivore, because the can bus became saturated. Getting all of the firmware in the right version was a challenge, just because there are some newer 2024 firmware's starting to trickle out, sometimes newer isn't better (yet).

I just want to say thank you again for helping me through this, your request to video the dashboard is what tipped me off that the gyro data wasn't coming over. - Jason