X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;ds=sidebyside;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FJoystickDrive.java;h=006a13cecc2c58568b7695da36a50c3c78a2de59;hb=f74d236db406193b851bff99e4daec7b7abf35e7;hp=f06eb2f37713c71603d3cb65bfa336ccac71e708;hpb=a784e9d2196b9ed0f2c42f2fb0bf273bf63cb2bd;p=3501%2F2017steamworks

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 f06eb2f..006a13c 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -3,40 +3,52 @@ 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.Joystick.AxisType;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- *
+ * This command will run throughout teleop and listens for joystick inputs to
+ * drive the driveTrain. This never finishes until teleop ends. - works in
+ * conjunction with OI.java
  */
 public class JoystickDrive extends Command {
 
-    public JoystickDrive() {
-        requires(Robot.getDriveTrain());
-    }
+  double previousThrust = 0;
+  double previousTwist = 0;
 
-    @Override
-    protected void initialize() {
-    }
+  public JoystickDrive() {
+    requires(Robot.getDriveTrain());
+  }
 
-    @Override
-    protected void execute() {
-        double left = OI.leftJoystick.getY();
-        double right = OI.rightJoystick.getY();
+  @Override
+  protected void initialize() {
+  }
 
-        Robot.getDriveTrain().joystickDrive(left, right);
-    }
+  @Override
+  protected void execute() {
+    double thrust = OI.xboxController.getY();
+    double twist = OI.xboxController.getAxis(AxisType.kZ);
 
-    @Override
-    protected boolean isFinished() {
-        return false;
-    }
+    thrust = (6 * previousThrust + thrust) / 7;
+    twist = (6 * previousTwist + twist) / 7;
 
-    @Override
-    protected void end() {
-        Robot.getDriveTrain().stop();
-    }
+    previousThrust = thrust;
+    previousTwist = twist;
 
-    @Override
-    protected void interrupted() {
-    }
+    Robot.getDriveTrain().joystickDrive(-thrust, -twist);
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  @Override
+  protected void end() {
+    Robot.getDriveTrain().stop();
+  }
+
+  @Override
+  protected void interrupted() {
+  }
 }