Add camera, change to arcade drive, front chooser only, minor driving fixes
[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / driving / JoystickDrive.java
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1package org.usfirst.frc.team3501.robot.commands.driving;
2
f8bfcc62 3import org.usfirst.frc.team3501.robot.OI;
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4import org.usfirst.frc.team3501.robot.Robot;
5
6import edu.wpi.first.wpilibj.command.Command;
7
8/**
1c94f230 9 * Runs throughout teleop and listens for joystick inputs and drives the
571a0e2a 10 * driveTrain Never finishes until teleop ends
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11 */
12public class JoystickDrive extends Command {
13
14 public JoystickDrive() {
15 requires(Robot.driveTrain);
16 }
17
18 @Override
19 protected void initialize() {
20 }
21
22 @Override
23 protected void execute() {
f8bfcc62 24 double left = -OI.leftJoystick.getY();
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25 double right = -OI.rightJoystick.getX();
26 Robot.driveTrain.drive(left, right);
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27 }
28
29 @Override
30 protected boolean isFinished() {
31 return false;
32 }
33
34 @Override
35 protected void end() {
36 Robot.driveTrain.stop();
37 }
38
39 @Override
40 protected void interrupted() {
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41 }
42}