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78b997ee ME |
1 | package org.usfirst.frc.team3501.robot.commands.driving; |
2 | ||
a784e9d2 | 3 | import org.usfirst.frc.team3501.robot.OI; |
78b997ee ME |
4 | import org.usfirst.frc.team3501.robot.Robot; |
5 | ||
6 | import edu.wpi.first.wpilibj.command.Command; | |
7 | ||
8 | /** | |
3ef4d379 | 9 | * This command will run throughout teleop and listens for joystick inputs to |
f0a71840 CZ |
10 | * drive the driveTrain. This never finishes until teleop ends. - works in |
11 | * conjunction with OI.java | |
78b997ee ME |
12 | */ |
13 | public class JoystickDrive extends Command { | |
14 | ||
d17d868d | 15 | public JoystickDrive() { |
16 | requires(Robot.getDriveTrain()); | |
17 | } | |
18 | ||
19 | @Override | |
20 | protected void initialize() { | |
21 | } | |
22 | ||
23 | @Override | |
24 | protected void execute() { | |
ba9f0b12 CZ |
25 | // final double thrust = OI.rightJoystick.getY(); |
26 | // final double twist = OI.rightJoystick.getTwist(); | |
27 | // | |
28 | // Robot.getDriveTrain().joystickDrive(-thrust, -twist); | |
29 | double left = OI.leftJoystick.getY(); | |
30 | double right = OI.rightJoystick.getY(); | |
31 | Robot.getDriveTrain().tankDrive(left, right); | |
d17d868d | 32 | } |
33 | ||
34 | @Override | |
35 | protected boolean isFinished() { | |
36 | return false; | |
37 | } | |
38 | ||
39 | @Override | |
40 | protected void end() { | |
41 | Robot.getDriveTrain().stop(); | |
42 | } | |
43 | ||
44 | @Override | |
45 | protected void interrupted() { | |
46 | } | |
78b997ee | 47 | } |