Purge code of all unused fields/classes. Only testing code.

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / driving / JoystickDrive.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
index 41e44d31cf2b4109152d888197045ae3a5cd3110..3db4388046fa4e532f5471c5da3b19f096585286 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -1,11 +1,13 @@
 package org.usfirst.frc.team3501.robot.commands.driving;
 
+import org.usfirst.frc.team3501.robot.OI;
 import org.usfirst.frc.team3501.robot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- *
+ * Runs throughout teleop and listens for joystick inputs and drives the
+ * driveTrain Never finishes until teleop ends
  */
 public class JoystickDrive extends Command {
 
@@ -19,10 +21,11 @@ public class JoystickDrive extends Command {
 
   @Override
   protected void execute() {
+    double k = (Robot.driveTrain.isFlipped() ? -1 : 1);
     // IDK why but the joystick gives positive values for pulling backwards
-    double left = -Robot.oi.leftJoystick.getY();
-    double right = -Robot.oi.rightJoystick.getY();
-    Robot.driveTrain.drive(left, right);
+    double left = -OI.leftJoystick.getY();
+    double right = -OI.rightJoystick.getY();
+    Robot.driveTrain.drive(left * k, right * k);
   }
 
   @Override
@@ -37,6 +40,5 @@ public class JoystickDrive extends Command {
 
   @Override
   protected void interrupted() {
-    end();
   }
 }