From d4e520a39c0786bf0f5a144f8940144912e4ef17 Mon Sep 17 00:00:00 2001
From: dkt01 <d.k.turner@att.net>
Date: Mon, 22 Aug 2022 20:39:20 -0500
Subject: [PATCH] Seems to work

---
 src/PlatformApp/PlatformApp.h         | 32 +++++++++++++--------------
 src/XBoxController/XBoxController.cpp |  3 ++-
 2 files changed, 18 insertions(+), 17 deletions(-)

diff --git a/src/PlatformApp/PlatformApp.h b/src/PlatformApp/PlatformApp.h
index 25111f9..d458855 100644
--- 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
index 409cd8d..0c216e6 100644
--- 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;