| 1 | package org.usfirst.frc.team3501.robot.commands; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.bases.Command; |
| 4 | |
| 5 | public class DriveWithJoysticks extends Command { |
| 6 | |
| 7 | public DriveWithJoysticks() { |
| 8 | super("DriveWithJoysticks"); |
| 9 | requires(drivetrain); |
| 10 | } |
| 11 | |
| 12 | protected void execute() { |
| 13 | double forward = oi.getForwardR(); |
| 14 | double twist = oi.getTwistR(); |
| 15 | |
| 16 | // option to lock twist for alignment |
| 17 | if (oi.getRightPressed(3, 4, 5, 6)) |
| 18 | twist = 0; |
| 19 | |
| 20 | drivetrain.drive(forward, twist); |
| 21 | } |
| 22 | |
| 23 | protected boolean isFinished() { |
| 24 | return false; |
| 25 | } |
| 26 | } |