Controller Analog Trigger Improvement

[Clutterbutter]

As you know, the triggers on the controller are used for forward and reverse. Right now there is a big deadzone (deadband), and it's not coded in. This is because the trigger power is linear, the trigger scales from 0 to 1. The robot doesn't move at low powers, which gives the illusion of a bigger deadzone than has been coded in. My solution is for our "linear line" to have a "y-intercept". This "y-intercept" should be the minimum power required for the robot to move. Once the small deadzone has been exceeded, the the speed controllers will be fed this minimum power, and the trigger will scale to 1 linearly. This will make for smoother driving as there will be more range for the triggers.

[dennisschw]

We could try that sure. There is a dead zone in the oi.java file for when to trigger the drivebyjoystickcmd.

On Sun, Feb 2, 2020, 12:14 PM Clutterbutter notifications@github.com wrote:

As you know, the triggers on the controller are used for forward and reverse. Right now there is a big deadzone (deadband), and it's not coded in. This is because the trigger power is linear, the trigger scales from 0 to 1. The robot doesn't move at low powers, which gives the illusion of a bigger deadzone than has been coded in. My solution is for our "linear line" to have a "y-intercept". This "y-intercept" should be the minimum power required for the robot to move. Once the small deadzone has been exceeded, the the speed controllers will be fed this minimum power, and the trigger will scale to 1 linearly. This will make for smoother driving as there will be more range for the triggers.

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[dennisschw]

Also, I think we should add an entry on the shuffleboard to select joystick vs xbox vs playstation 4 controller. This could simplify the code as we add a third controller to the options.

On Sun, Feb 2, 2020, 12:14 PM Clutterbutter notifications@github.com wrote:

As you know, the triggers on the controller are used for forward and reverse. Right now there is a big deadzone (deadband), and it's not coded in. This is because the trigger power is linear, the trigger scales from 0 to 1. The robot doesn't move at low powers, which gives the illusion of a bigger deadzone than has been coded in. My solution is for our "linear line" to have a "y-intercept". This "y-intercept" should be the minimum power required for the robot to move. Once the small deadzone has been exceeded, the the speed controllers will be fed this minimum power, and the trigger will scale to 1 linearly. This will make for smoother driving as there will be more range for the triggers.

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[Clutterbutter]

Here's a graph to show the idea.

[Clutterbutter]

This assumes 0.3 is the minimum power needed to move the robot and 0.1 is the end of our deadband.

[Clutterbutter]

It's showing a steeper line between 0 and 0.1 but really that would be 0 power given to speed controllers as it's inside of the deadzone.

[Clutterbutter]

[dennisschw]

I think .3 as minimum needed to move might be high. I like your idea though.

On Sun, Feb 2, 2020, 12:43 PM Clutterbutter notifications@github.com wrote:

It's showing a steeper line between 0 and 0.1 but really that would be 0 power given to speed controllers as it's inside of the deadzone.

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