Added Dpad controls to move the robot for non-analogue control

and also rumble too

robot.py

@@ -46,16 +46,53 @@ def teleopInit(self) -> None:
     def teleopPeriodic(self) -> None:
         # Driving
         spin_rate = 4
-        drive_x = -rescale_js(self.gamepad.getLeftY(), 0.1) * self.max_speed
-        drive_y = -rescale_js(self.gamepad.getLeftX(), 0.1) * self.max_speed
-        drive_z = -rescale_js(self.gamepad.getRightX(), 0.1, exponential=2) * spin_rate
+
+        joysticks = [
+            self.gamepad.getLeftY(),
+            self.gamepad.getLeftX(),
+            self.gamepad.getRightX(),
+        ]
+
+        pov = self.gamepad.getPOV()
+        # print(pov)
+        if pov != -1:
+            joysticks[0] = 0
+            joysticks[1] = 0
+            match pov:
+                case 0:
+                    joysticks[0] = 1
+                case 45:
+                    joysticks[0] = 1
+                    joysticks[1] = 1
+                case 90:
+                    joysticks[1] = 1
+                case 135:
+                    joysticks[0] = -1
+                    joysticks[1] = 1
+                case 180:
+                    joysticks[0] = -1
+                case 225:
+                    joysticks[0] = -1
+                    joysticks[1] = -1
+                case 270:
+                    joysticks[1] = -1
+                case 315:
+                    joysticks[0] = 1
+                    joysticks[1] = -1
+
+        drive_x = -rescale_js(joysticks[0], 0.1) * self.max_speed
+        drive_y = -rescale_js(joysticks[1], 0.1) * self.max_speed
+        drive_z = -rescale_js(joysticks[2], 0.1, exponential=2) * spin_rate
         local_driving = self.gamepad.getBButton()
         driver_inputs = (drive_x, drive_y, drive_z)
         if local_driving:
             self.chassis.drive_local(*driver_inputs)
         else:
             self.chassis.drive_field(*driver_inputs)
 
+        if self.gamepad.getYButton():
+            self.rumble_for(self.gamepad.getLeftTriggerAxis(), 0.1)
+
         # stop rumble after time
         if self.rumble_timer.hasElapsed(self.rumble_duration):
             self.gamepad.setRumble(wpilib.XboxController.RumbleType.kBothRumble, 0)