@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 * k, right * k);
+ double thrust = Robot.oi.leftJoystick.getY();
+ double twist = Robot.oi.leftJoystick.getTwist();
+
+ Robot.driveTrain.joystickDrive(-thrust, -twist);
}
@Override