import org.usfirst.frc.team3501.robot.OI;
import org.usfirst.frc.team3501.robot.Robot;
+import edu.wpi.first.wpilibj.Joystick.AxisType;
import edu.wpi.first.wpilibj.command.Command;
/**
- *
+ * This command will run throughout teleop and listens for joystick inputs to
+ * drive the driveTrain. This never finishes until teleop ends. - works in
+ * conjunction with OI.java
*/
public class JoystickDrive extends Command {
@Override
protected void execute() {
- final double thrust = OI.rightJoystick.getY();
- final double twist = OI.rightJoystick.getTwist();
+ final double thrust = OI.xboxController.getY();
+ final double twist = OI.xboxController.getAxis(AxisType.kZ);
Robot.getDriveTrain().joystickDrive(-thrust, -twist);
+
+ /*
+ * double left = OI.leftJoystick.getY(); double right =
+ * OI.rightJoystick.getY(); Robot.getDriveTrain().tankDrive(-left, -right);
+ */
}
@Override