Indicates if the joysticks were plugged in during an invalid state (boolean on the dashboard)

src/Subsystems/Dashboard.cpp

@@ -4,16 +4,29 @@ ZaphodDashboard::ZaphodDashboard()
 {
   //Add Dashboard Initalizations here (for now)
   SmartDashboard::PutNumber("Shooting Power", 0.0f);
+  SmartDashboard::PutBoolean("Joysticks Valid", false);
 }
 
-float ZaphodDashboard::getKeyValue(const char* key)
+float ZaphodDashboard::getFloatValue(const char* key)
 {
   float value = SmartDashboard::GetNumber(key);
   return value;
 }
 
-bool ZaphodDashboard::putKeyValue(const char* key, float value)
+bool ZaphodDashboard::putFloatValue(const char* key, float value)
 {
   SmartDashboard::PutNumber(key,value);
   return true;
 }
+
+bool ZaphodDashboard::getBoolValue(const char* key)
+{
+  bool value = SmartDashboard::GetBoolean(key);
+  return value;
+}
+
+bool ZaphodDashboard::putBoolValue(const char* key, bool value)
+{
+  SmartDashboard::PutBoolean(key,value);
+  return true;
+}

src/Subsystems/Dashboard.h

@@ -7,6 +7,8 @@ class ZaphodDashboard
     ZaphodDashboard();
     //Array used to track the values in the dashboard
     bool DashboardValues[];
-    float getKeyValue(const char* key);
+    float getFloatValue(const char* key);
-    bool putKeyValue(const char* key, float value);
+    bool putFloatValue(const char* key, float value);
+    bool getBoolValue(const char* key);
+    bool putBoolValue(const char* key, bool value);
 };

src/ZaphodRobot.cpp

@@ -64,10 +64,13 @@ bool ZaphodRobot::checkJoystickValues()
   float y = ControlSystem->rightJoystickAxisValues[2];
   if((-.1 < x && x < .1) && (-.1 < y && y < .1))
   {
+    dashboard->putBooleanValue("Joysticks Valid", true);
     return true;
   }
   else
   {
+    dashboard->putBooleanValue("Joysticks Valid", false);
+    return true;
     return false;
   }
 }
@@ -91,7 +94,7 @@ void ZaphodRobot::driveRobot(float x, float y)
 
 void ZaphodRobot::updateDashboard()
 {
-  dashboard->putKeyValue("Shooting Power", ControlSystem->throttle);
+  dashboard->putFloatValue("Shooting Power", ControlSystem->throttle);
 }
 
 //Main function used to handle periodic tasks on the robot
@@ -104,7 +107,10 @@ void ZaphodRobot::handler()
   //TODO Need to implement a timing system to not break the spike (this function doesn't run the compressor at the moment)
   compressorSystem->compressorSystemPeriodic();
   collector->updateCollector(shooter->isShooting, shooter->getAngle());
-  driveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1], -ControlSystem->rightJoystickAxisValues[2]);
+  if(checkJoystickValues())
+  {
+    driveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1], -ControlSystem->rightJoystickAxisValues[2]);
+  }
   updateDashboard();
   
   //Button assignments to actions