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| # Operator Interface | ||
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| For our [2024 robot](../src/main/java/com/team766/robot/reva/Robot.java), we have controls set up for the [Driver](#driver-controls), [Box Op](#boxop-controls), and for [Debugging](#debug-controls) (eg, in the pit). This document provides an overview for each of our controls. | ||
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| The top-level code is in [`src/main/java/com/team766/robot/reva/OI.java`](../src/main/java/com/team766/robot/reva/OI.java) and is organized into separate classes for each of the separate sets of controls. | ||
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| ## Driver Controls | ||
| Code: [`src/main/java/com/team766/robot/common/DriverOI.java`](../src/main/java/com/team766/robot/common/DriverOI.java). | ||
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| The driver controls the movement of the robot on the field. They also include game piece manipulation that is best done by the driver, such as shooting a gamepiece towards the target. We use the [Thrustmaster T.16000M](https://www.amazon.com/Guillemot-Thrustmaster-T-16000M-Fcs-Joystick/dp/B01H6KXGEI) joysticks for these controls. | ||
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| We use the same basic driver controls that we use on any of our swerve-drive based robots. In fact, the code for these controls is in a common directory alongside the [swerve](SwerveDrive.md) [code](../src/main/java/com/team766/robot/common/mechanisms/Drive.java) itself, and may be subclasses to allow for binding game-specific controls (eg binding the left trigger to fire the shooter), though we have not made any such customizations yet. | ||
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| TODO: consider this customization. | ||
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| <table style="table-layout: fixed"> | ||
| <tr> | ||
| <td style="width: 50%"> | ||
| <img src="images/thrustmaster.jpeg" alt="left"/> | ||
| </td> | ||
| <td style="width: 50%"> | ||
| <img src="images/thrustmaster.jpeg" alt="right"/> | ||
| </td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>Drive</strong></td> | ||
| <td><strong>Steer</strong></td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>X-axis:</strong> Move forward/backward</td> | ||
| <td></td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>Y-axis:</strong> Move left/right</td> | ||
| <td><strong>Y-axis:</strong>Rotate counterclockwise/clockwise</td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>Button 9</strong>: Reset gyro</td> | ||
| <td><strong>Button 1 (Trigger)</strong>: Fine driving<br>(slow down to 25%)</td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>Button 15</strong>: Reset position (odometry)</td> | ||
| <td><strong>Button 3</strong>: Cross wheels</td> | ||
| </tr> | ||
| <tr> | ||
| <td colspan="2"><strong>NOTE: X-axis is up/down, Y-axis is sideways</strong></td> | ||
| </tr> | ||
| </table> | ||
| <div style="page-break-after: always;"></div> | ||
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| ## BoxOp Controls | ||
| Code: [`src/main/java/com/team766/robot/reva/BoxOpOI.java`](../src/main/java/com/team766/robot/reva/BoxOpOI.java). | ||
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| The box operator (box op) controls the manipulation of the non-drive mechanisms on the robot, such the the shoulder, intake, and shooter. | ||
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| We use a wired Xbox Controller (the Logitech gamepad in Xbox mode also works for testing) for these controls. | ||
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| <table> | ||
| <tr> | ||
| <td colspan="2"> | ||
| <img src="images/xbox.svg" alt="gamepad"/> | ||
| </td> | ||
| </tr> | ||
| <tr> | ||
| </tr> | ||
| <tr> | ||
| <td>A</td> | ||
| <td>Move shoulder to floor</td> | ||
| </tr> | ||
| <tr> | ||
| <td>B</td> | ||
| <td>Move shoulder to secondary amp shooting position</td> | ||
| </tr> | ||
| <tr> | ||
| <td>X</td> | ||
| <td>Move shoulder to medium shooting position</td> | ||
| </tr> | ||
| <tr> | ||
| <td>Y</td> | ||
| <td>Move shoulder to amp shooting position.</td> | ||
| </tr> | ||
| <tr> | ||
| <td>DPAD UP</td> | ||
| <td>Nudge shoulder up.</td> | ||
| </tr> | ||
| <tr> | ||
| <td>DPAD DOWN</td> | ||
| <td>Nudge shoulder down.</td> | ||
| </tr> | ||
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| <tr> | ||
| <td>RT</td> | ||
| <td>Hold to spin shooter</td> | ||
| </tr> | ||
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| <tr> | ||
| <td>LB</td> | ||
| <td>Hold to run intake (in)</td> | ||
| </tr> | ||
| <tr> | ||
| <td>RB</td> | ||
| <td>Hold to run intake (out)</td> | ||
| </tr> | ||
| <tr> | ||
| <td>A+B+LEFT STICK</td> | ||
| <td>Hold buttons + move stick to control left climber</td> | ||
| </tr> | ||
| <tr> | ||
| <td>A+B+RIGHT STICK</td> | ||
| <td>Hold buttons + move stick to control right climber</td> | ||
| </tr> | ||
| <tr> | ||
| <td>A+B+C+D*</td> | ||
| <td>Hold to override climber soft limits</td> | ||
| </tr> | ||
| </table> | ||
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| The face buttons are also mapped to the buttons on the back of the Xbox Elite Controller | ||
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| <div style="page-break-after: always;"></div> | ||
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| ## Debug Controls | ||
| Code: [`src/main/java/com/team766/robot/reva/DebugOI.java`](../src/main/java/com/team766/robot/reva/DebugOI.java). | ||
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| The debug controls allow us to test each of the individual mechanisms on the robot, for bringup and for pit testing (eg in between matches). | ||
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| We use a [Megalodon Macro Pad](https://www.amazon.com/KEEBMONKEY-Megalodon-Programmable-Designer-Keyboard/dp/B0C1SV9G9L) with [custom firmware](https://github.com/Team766/qmk_firmware) (providing joystick inputs) for our debug controls. | ||
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| TODO: put together page with instructions on how to flash the firmware. | ||
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| <table> | ||
| <tr> | ||
| <td colspan="2"> | ||
| <img src="images/kb16.png" alt="macropad"/> | ||
| </td> | ||
| </tr> | ||
| <tr> | ||
| <td>1</td> | ||
| <td>Hold to control shoulder (with up/down or dials)</td> | ||
| </tr> | ||
| <tr> | ||
| <td>2</td> | ||
| <td>Hold to control climber (with up/down or dials)<br>Work in progress.</td> | ||
| </tr> | ||
| <tr> | ||
| <td>3</td> | ||
| <td>Hold to run intake (in)</td> | ||
| </tr> | ||
| <tr> | ||
| <td>4</td> | ||
| <td>Hold to run shooter. Can speed up and slow down (with up/down or dials).</td> | ||
| </tr> | ||
| <tr> | ||
| <td>7</td> | ||
| <td>Hold to run intake (out).</td> | ||
| </tr> | ||
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| <tr> | ||
| <td>8</td> | ||
| <td>Moves mechanism being controlled (via another button) up.</td> | ||
| </tr> | ||
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| <tr> | ||
| <td>12</td> | ||
| <td>Moves mechanism being controlled (via another button) down.</td> | ||
| </tr> | ||
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| <tr> | ||
| <td>9</td> | ||
| <td>Reset relative encoders on shoulder.</td> | ||
| </tr> | ||
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| </table> |
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