X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FJoystickDrive.java;h=9007a545fce287951f650cad98ffa08bf9bd3515;hb=ba9f0b126afd5973b11a22dd6640d8d6f0822f5a;hp=8e185ca2844c191ce1b1c166dcaa9161cec7dc74;hpb=78b997ee01c29b502fcd2eebbf9769cb0ae5f258;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 8e185ca..9007a54 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -1,42 +1,47 @@
 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;
 
 /**
- *
+ * 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());
-    }
-
-    // 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);
+    double left = OI.leftJoystick.getY();
+    double right = OI.rightJoystick.getY();
+    Robot.getDriveTrain().tankDrive(left, right);
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  @Override
+  protected void end() {
+    Robot.getDriveTrain().stop();
+  }
+
+  @Override
+  protected void interrupted() {
+  }
 }