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   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 }