Add camera, change to arcade drive, front chooser only, minor driving fixes

[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 861432f5a975d08dfd4d2cd6cd7e48a33c1f6900..c246ccfac9954a314437ca7ee4283e66d774d938 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -1,5 +1,6 @@
 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;
@@ -20,11 +21,9 @@ 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 * k, right * k);
+    double left = -OI.leftJoystick.getY();
+    double right = -OI.rightJoystick.getX();
+    Robot.driveTrain.drive(left, right);
   }
 
   @Override