change variables 'left' and 'right' that store joystick values to 'thrust' and 'twist'
[3501/2017steamworks] / 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 *
10 */
11 public class JoystickDrive extends Command {
12
13 public JoystickDrive() {
14 requires(Robot.getDriveTrain());
15 }
16
17 @Override
18 protected void initialize() {
19 }
20
21 @Override
22 protected void execute() {
23 final double thrust = OI.rightJoystick.getY();
24 final double twist = OI.rightJoystick.getTwist();
25
26 Robot.getDriveTrain().joystickDrive(-thrust, -twist);
27 }
28
29 @Override
30 protected boolean isFinished() {
31 return false;
32 }
33
34 @Override
35 protected void end() {
36 Robot.getDriveTrain().stop();
37 }
38
39 @Override
40 protected void interrupted() {
41 }
42 }