change variables 'left' and 'right' that store joystick values to 'thrust' and 'twist'

[3501/2017steamworks] / 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 8e185ca2844c191ce1b1c166dcaa9161cec7dc74..d12614f06ca99b2fb64a1c03173f39037c453a7a 100755 (executable)
--- 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;
@@ -9,34 +10,33 @@ import edu.wpi.first.wpilibj.command.Command;
  */
 public class JoystickDrive extends Command {
 
-    public JoystickDrive() {
-        requires(Robot.getDriveTrain());
-    }
-
-    // Called just before this Command runs the first time
-    @Override
-    protected void initialize() {
-    }
-
-    // Called repeatedly when this Command is scheduled to run
-    @Override
-    protected void execute() {
-    }
-
-    // Make this return true when this Command no longer needs to run execute()
-    @Override
-    protected boolean isFinished() {
-        return false;
-    }
-
-    // Called once after isFinished returns true
-    @Override
-    protected void end() {
-    }
-
-    // Called when another command which requires one or more of the same
-    // subsystems is scheduled to run
-    @Override
-    protected void interrupted() {
-    }
+  public JoystickDrive() {
+    requires(Robot.getDriveTrain());
+  }
+
+  @Override
+  protected void initialize() {
+  }
+
+  @Override
+  protected void execute() {
+    final double thrust = OI.rightJoystick.getY();
+    final double twist = OI.rightJoystick.getTwist();
+
+    Robot.getDriveTrain().joystickDrive(-thrust, -twist);
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  @Override
+  protected void end() {
+    Robot.getDriveTrain().stop();
+  }
+
+  @Override
+  protected void interrupted() {
+  }
 }