Controller Requirements

• Left Joystick
  • Intake
  • 3 is outtake
    • Outtake is pushing the cube out, and three is the top button
    • It will be used very often (so near thumb) and putting it as the top button makes it farther out from person operating, so it is connotated with putting cube out
    • Takes precedence over button 2 in case of accidentally pressing
  • 2 is intake
    • Intake is taking the cube in, and two is the bottom button
    • Used often, so near thumb, and putting it closer to operator is connotated with bringing cube in
    • Shouldn’t be possible to use when arms are up
  • 8 is arms up
  • 9 is arms down
    • The main hub of buttons at the top of the joystick is full with buttons 2-5, so putting them at the bottom of the joystick in the middle is the next easiest for the operator to access
  • 4 is arms open
    • Shouldn’t be possible to use when arms are up
  • 5 is arms close
    • Shouldn’t be possible to use when arms are up
    • We want separate controls for each of the pistons for safety measures
  • Buttons 4 and 5 are close to buttons 2 and 3, which makes them easier for operator to access when dealing with the cubes
    • Trigger starts intake sequence
    • Limit switch ends the intake sequence
• Right Joystick (lift/winch)
  • Joystick
    • Moving up and down is manual lift
    • Also need to hit trigger for safety
    • Moving the joystick back and forth is easily connotated with moving the lift up and down, and the trigger must be pressed while the joystick is being pressed so that the lift doesn’t accidentally move
    • Has a large deadzone
  • Scale height(6’) is 3
    • Heights are scale heights
    • buttons 5 and 3 are very accessible for the operator
  • Switch height is 4
    • Button 4 is accessible for the operator, and switch height will be needed often
  • Portal height is button 5
    • Portal height will be used somewhat often, although it will not be needed as often as heights for lift, so it is closer to the bottom of the joystick
  • Ground height is button 2
  • 11 for faster winch speed
  • 10 for slower winch speed
  • 6 for reverse speed
    • To reset the winch/roll up rope before match
  • 7 is stall speed/engage ratchet (when installed)
    • Button must be held down for entire climb
  • Only allow winch buttons to work in last 30 seconds
  • Won’t be used for most of match, so on the side of joystick
• Xbox Controller
  • Driving Robot
  • Analog Sticks on Xbox are used to drive
    • Analog sticks allow for tank drive
  • While RT is being held, set robot to low gear
  • While LT is being held, front side is switch
    • The threshold for pressing is 90% pressed
    • Delay allows for button to check if held so it doesn’t go off unwantedly
    • Has to be debounced
  • X and A are naynay/shimmy button
    • Robot shakes side to side
      • Both sides go forward and reverse- alternating for as long as X and A are pressed
    • Can be pressed in case it is needed, but is less likely to go off unwantedly because of positioning