make so does not crash

[3501/3501-spark-go] / src / org / usfirst / frc / team3501 / robot / commands / DriveWithJoysticks.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DriveWithJoysticks.java b/src/org/usfirst/frc/team3501/robot/commands/DriveWithJoysticks.java
index d1f3e504c365db703fb3e5b34f739d3b3940b151..79d687d454a1621a862046db4671b4c4d42508a0 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/DriveWithJoysticks.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/DriveWithJoysticks.java
@@ -1,14 +1,24 @@
 package org.usfirst.frc.team3501.robot.commands;
 
-public class DriveWithJoysticks extends CommandBase {
+import org.usfirst.frc.team3501.bases.Command;
+
+public class DriveWithJoysticks extends Command {
 
     public DriveWithJoysticks() {
         super("DriveWithJoysticks");
+
         requires(drivetrain);
     }
 
     protected void execute() {
-        drivetrain.drive(oi.getForwardSpeed(), oi.getTwistSpeed());
+        double forward = oi.getForwardR();
+        double twist   = oi.getTwistR();
+
+        // option to lock twist for alignment
+        if (oi.getRightPressed(3, 4, 5, 6))
+            twist = 0;
+
+        drivetrain.drive(forward, twist);
     }
 
     protected boolean isFinished() {