Commit | Line | Data |
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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 | ||
8275a069 | 6 | import edu.wpi.first.wpilibj.Joystick.AxisType; |
78b997ee ME |
7 | import edu.wpi.first.wpilibj.command.Command; |
8 | ||
9 | /** | |
3ef4d379 | 10 | * This command will run throughout teleop and listens for joystick inputs to |
f0a71840 CZ |
11 | * drive the driveTrain. This never finishes until teleop ends. - works in |
12 | * conjunction with OI.java | |
78b997ee ME |
13 | */ |
14 | public class JoystickDrive extends Command { | |
15 | ||
d17d868d | 16 | public JoystickDrive() { |
17 | requires(Robot.getDriveTrain()); | |
18 | } | |
19 | ||
20 | @Override | |
21 | protected void initialize() { | |
22 | } | |
23 | ||
24 | @Override | |
25 | protected void execute() { | |
8275a069 RR |
26 | final double thrust = OI.xboxController.getY(); |
27 | final double twist = OI.xboxController.getAxis(AxisType.kZ); | |
28 | ||
29 | Robot.getDriveTrain().joystickDrive(-thrust, -twist); | |
30 | ||
31 | /* | |
32 | * double left = OI.leftJoystick.getY(); double right = | |
33 | * OI.rightJoystick.getY(); Robot.getDriveTrain().tankDrive(-left, -right); | |
34 | */ | |
d17d868d | 35 | } |
36 | ||
37 | @Override | |
38 | protected boolean isFinished() { | |
39 | return false; | |
40 | } | |
41 | ||
42 | @Override | |
43 | protected void end() { | |
44 | Robot.getDriveTrain().stop(); | |
45 | } | |
46 | ||
47 | @Override | |
48 | protected void interrupted() { | |
49 | } | |
78b997ee | 50 | } |