Seems to work

dkt01 · Aug 23, 2022 · d4e520a · d4e520a
1 parent cb89037
commit d4e520a
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Showing 2 changed files with 18 additions and 17 deletions.
diff --git a/src/PlatformApp/PlatformApp.h b/src/PlatformApp/PlatformApp.h
@@ -109,10 +109,10 @@ namespace motorConfig {
       constexpr static auto voltCompSat = 11.0_V;
       constexpr static auto nominalOutputForward = 0.0;
       constexpr static auto nominalOutputReverse = 0.0;
-      constexpr static auto peakOutputForward = 1.0;
-      constexpr static auto peakOutputReverse = -1.0;
-      constexpr static auto openLoopRamp = 750_ms;
-      constexpr static auto closedLoopRamp = 750_ms;
+      constexpr static auto peakOutputForward = 0.2;
+      constexpr static auto peakOutputReverse = -0.2;
+      constexpr static auto openLoopRamp = 3000_ms;
+      constexpr static auto closedLoopRamp = 3000_ms;
       constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor;
       constexpr static auto pid0_kP = controlLoop::drive::drive::kP;
       constexpr static auto pid0_kI = controlLoop::drive::drive::kI;
@@ -139,10 +139,10 @@ namespace motorConfig {
       constexpr static auto voltCompSat = 11.0_V;
       constexpr static auto nominalOutputForward = 0.0;
       constexpr static auto nominalOutputReverse = 0.0;
-      constexpr static auto peakOutputForward = 1.0;
-      constexpr static auto peakOutputReverse = -1.0;
-      constexpr static auto openLoopRamp = 750_ms;
-      constexpr static auto closedLoopRamp = 750_ms;
+      constexpr static auto peakOutputForward = 0.2;
+      constexpr static auto peakOutputReverse = -0.2;
+      constexpr static auto openLoopRamp = 3000_ms;
+      constexpr static auto closedLoopRamp = 3000_ms;
       constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor;
       constexpr static auto pid0_kP = controlLoop::drive::drive::kP;
       constexpr static auto pid0_kI = controlLoop::drive::drive::kI;
@@ -169,10 +169,10 @@ namespace motorConfig {
       constexpr static auto voltCompSat = 11.0_V;
       constexpr static auto nominalOutputForward = 0.0;
       constexpr static auto nominalOutputReverse = 0.0;
-      constexpr static auto peakOutputForward = 1.0;
-      constexpr static auto peakOutputReverse = -1.0;
-      constexpr static auto openLoopRamp = 750_ms;
-      constexpr static auto closedLoopRamp = 750_ms;
+      constexpr static auto peakOutputForward = 0.2;
+      constexpr static auto peakOutputReverse = -0.2;
+      constexpr static auto openLoopRamp = 3000_ms;
+      constexpr static auto closedLoopRamp = 3000_ms;
       constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor;
       constexpr static auto pid0_kP = controlLoop::drive::drive::kP;
       constexpr static auto pid0_kI = controlLoop::drive::drive::kI;
@@ -199,10 +199,10 @@ namespace motorConfig {
       constexpr static auto voltCompSat = 11.0_V;
       constexpr static auto nominalOutputForward = 0.0;
       constexpr static auto nominalOutputReverse = 0.0;
-      constexpr static auto peakOutputForward = 1.0;
-      constexpr static auto peakOutputReverse = -1.0;
-      constexpr static auto openLoopRamp = 750_ms;
-      constexpr static auto closedLoopRamp = 750_ms;
+      constexpr static auto peakOutputForward = 0.2;
+      constexpr static auto peakOutputReverse = -0.2;
+      constexpr static auto openLoopRamp = 3000_ms;
+      constexpr static auto closedLoopRamp = 3000_ms;
       constexpr static auto pid0_selectedSensor = ctre::phoenix::motorcontrol::FeedbackDevice::IntegratedSensor;
       constexpr static auto pid0_kP = controlLoop::drive::drive::kP;
       constexpr static auto pid0_kI = controlLoop::drive::drive::kI;

diff --git a/src/XBoxController/XBoxController.cpp b/src/XBoxController/XBoxController.cpp
@@ -81,7 +81,8 @@ bool XBoxController::Initialize() {
     SDL_GameControllerEventState(SDL_ENABLE);
     m_pJoystick = candidateJoystick;
     return true;
-  } else if (num_axes == 7 && (num_buttons == 15 || num_buttons == 12) && num_hats == 1) {
+  } else if ((num_axes == 7 || num_axes == 6) && (num_buttons == 16 || num_buttons == 15 || num_buttons == 12) &&
+             num_hats == 1) {
     std::cout << "Connected to new XBox Series controller\n";
     SDL_GameControllerEventState(SDL_ENABLE);
     m_pJoystick = candidateJoystick;