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.command.Command;
   7
   8 /**
   9  * This command will run throughout teleop and listens for joystick inputs to
  10  * drive the driveTrain. This never finishes until teleop ends. - works in
  11  * conjunction with OI.java
  12  */
  13 public class JoystickDrive extends Command {
  14
  15   public JoystickDrive() {
  16     requires(Robot.getDriveTrain());
  17   }
  18
  19   @Override
  20   protected void initialize() {
  21   }
  22
  23   @Override
  24   protected void execute() {
  25     final double thrust = OI.rightJoystick.getY();
  26     final double twist = OI.rightJoystick.getTwist();
  27
  28     Robot.getDriveTrain().joystickDrive(-thrust, -twist);
  29   }
  30
  31   @Override
  32   protected boolean isFinished() {
  33     return false;
  34   }
  35
  36   @Override
  37   protected void end() {
  38     Robot.getDriveTrain().stop();
  39   }
  40
  41   @Override
  42   protected void interrupted() {
  43   }
  44 }