| 1 | package org.usfirst.frc.team3501.robot.commands.driving; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.OI; |
| 4 | import org.usfirst.frc.team3501.robot.Robot; |
| 5 | |
| 6 | import edu.wpi.first.wpilibj.Joystick.AxisType; |
| 7 | import edu.wpi.first.wpilibj.command.Command; |
| 8 | |
| 9 | /** |
| 10 | * This command will run throughout teleop and listens for joystick inputs to |
| 11 | * drive the driveTrain. This never finishes until teleop ends. - works in |
| 12 | * conjunction with OI.java |
| 13 | */ |
| 14 | public class JoystickDrive extends Command { |
| 15 | |
| 16 | public JoystickDrive() { |
| 17 | requires(Robot.getDriveTrain()); |
| 18 | } |
| 19 | |
| 20 | @Override |
| 21 | protected void initialize() { |
| 22 | } |
| 23 | |
| 24 | @Override |
| 25 | protected void execute() { |
| 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 | */ |
| 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 | } |
| 50 | } |