1 package org
.usfirst
.frc
.team3501
.robot
.commands
.driving
;
3 import org
.usfirst
.frc
.team3501
.robot
.OI
;
4 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
6 import edu
.wpi
.first
.wpilibj
.command
.Command
;
9 * This command will run throughout teleop and listens for joystick inputs to
10 * drive the driveTrain. This never finishes until teleop ends. - works in
11 * conjunction with OI.java
13 public class JoystickDrive
extends Command
{
15 public JoystickDrive() {
16 requires(Robot
.getDriveTrain());
20 protected void initialize() {
24 protected void execute() {
25 final double thrust
= OI
.rightJoystick
.getY();
26 final double twist
= OI
.rightJoystick
.getTwist();
28 Robot
.getDriveTrain().joystickDrive(-thrust
, -twist
);
32 protected boolean isFinished() {
37 protected void end() {
38 Robot
.getDriveTrain().stop();
42 protected void interrupted() {