challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java

   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   double previousThrust = 0;
  17   double previousTwist = 0;
  18
  19   public JoystickDrive() {
  20     requires(Robot.getDriveTrain());
  21   }
  22
  23   @Override
  24   protected void initialize() {
  25   }
  26
  27   @Override
  28   protected void execute() {
  29     double thrust = OI.xboxController.getY();
  30     double twist = OI.xboxController.getAxis(AxisType.kZ);
  31
  32     thrust = (6 * previousThrust + thrust) / 7;
  33     twist = (6 * previousTwist + twist) / 7;
  34
  35     previousThrust = thrust;
  36     previousTwist = twist;
  37
  38     Robot.getDriveTrain().joystickDrive(-thrust, -twist);
  39   }
  40
  41   @Override
  42   protected boolean isFinished() {
  43     return false;
  44   }
  45
  46   @Override
  47   protected void end() {
  48     Robot.getDriveTrain().stop();
  49   }
  50
  51   @Override
  52   protected void interrupted() {
  53   }
  54 }