- double left = -OI.leftJoystick.getY();
- double right = -OI.rightJoystick.getY();
- Robot.driveTrain.joystickDrive(left, right);
+ double thrust = Robot.oi.leftJoystick.getY();
+ double twist = Robot.oi.leftJoystick.getTwist();
+
+ Robot.driveTrain.joystickDrive(thrust, twist);