control-schema.yml

# package frc.robot;

# import edu.wpi.first.wpilibj.XboxController;
# import edu.wpi.first.wpilibj.buttons.Button;
# import frc.robot.autonomous.commandgroups.Climb;
# import edu.wpi.first.wpilibj.GenericHID;


# /**
#  * This class is the glue that binds the controls on the physical operator
#  * interface to the commands and command groups that allow control of the robot.
#  */
# public class OI {
# 	//// CREATING BUTTONS
# 	// One type of button is a joystick button which is any button on a
# 	//// joystick.
# 	// You create one by telling it which joystick it's on and which button
# 	// number it is.
# 	// Joystick stick = new Joystick(port);
# 	// Button button = new JoystickButton(stick, buttonNumber);

# 	// There are a few additional built in buttons you can use. Additionally,
# 	// by subclassing Button you can create custom triggers and bind those to
# 	// commands the same as any other Button.

# 	//// TRIGGERING COMMANDS WITH BUTTONS
# 	// Once you have a button, it's trivial to bind it to a button in one of
# 	// three ways:

# 	// Start the command when the button is pressed and let it run the command
# 	// until it is finished as determined by it's isFinished method.
# 	// button.whenPressed(new ExampleCommand());

# 	// Run the command while the button is being held down and interrupt it once
# 	// the button is released.
# 	// button.whileHeld(new ExampleCommand());

# 	// Start the command when the button is released and let it run the command
# 	// until it is finished as determined by it's isFinished method.
# 	// button.whenReleased(new ExampleCommand());

# 	// Constrollers
# 	public XboxController driverController = new XboxController(0);
# 	public XboxController operatorController = new XboxController(1);

# 	/**
# 	 * Limits a trigger to positive values only. This allows the use of a steam
# 	 * controller for driving
# 	 */
# 	private double limitTrigger(double value) {
# 		if (value <= 0.0) {
# 			return 0.0;
# 		}
# 		return value;
# 	}

# 	/**
# 	 * Get the DriveTrain throttle value from driverstation
# 	 * 
# 	 * @return Throttle (from -1.0 to 1.0)
# 	 */
# 	public double getThrottle() {
# 		double speed = 0.0;

# 		speed += limitTrigger(driverController.getTriggerAxis(GenericHID.Hand.kRight));
# 		speed -= limitTrigger(driverController.getTriggerAxis(GenericHID.Hand.kLeft));

# 		return speed;
# 	}

# 	/**
# 	 * Get the DriveTrain turn rate value from driverstation
# 	 * 
# 	 * @return Turn rate (from -1.0 to 1.0)
# 	 */
# 	public double getTurn() {
# 		return driverController.getX(GenericHID.Hand.kLeft);
# 	}

# 	/**
# 	 * @return Has the operator requested an intake action?
# 	 */
# 	public boolean getIntake() {
# 		return operatorController.getYButtonPressed();
# 	}

# 	/**
# 	 * @return Has the operator requested an outtake action?
# 	 */
# 	public boolean getOuttake() {
# 		return operatorController.getBButtonPressed();
# 	}

# 	/**
# 	 * @return Has the operator requested an outtake action for cargo?
# 	 */
# 	public boolean getCargo() {
# 		return operatorController.getXButtonPressed();
# 	}

# 	/**
# 	 * 
# 	 * @return Overriden slider input from operator
# 	 */
# 	public double getSliderOverride() {
# 		return operatorController.getX(GenericHID.Hand.kLeft);
# 	}

# 	public boolean getCompressorEnable() {
# 		return operatorController.getStartButton() || driverController.getStartButton();
# 	}

# 	public boolean getCompressorDisable() {
# 		return operatorController.getBackButton() || driverController.getBackButton();
# 	}

# 	public boolean getClimb2FA() {
# 		return operatorController.getBumperPressed(GenericHID.Hand.kRight) && operatorController.getPOV() == 0;
# 	}

# 	public boolean getManualArmToggle(){
# 		return operatorController.getBumperPressed(GenericHID.Hand.kRight) && operatorController.getPOV() == 180;
# 	}

- control:
  - input: 
    - type: range
    - min: -1
    - max: 1
    - default: 0
    - sources:
      - operator:
        - joystick:
          - axis: 'y'
          - hand: right
          - modifier: -1
  - method_name: getArmMovementOverrideSpeed