import org.usfirst.frc.team3501.robot.OI;
import org.usfirst.frc.team3501.robot.Robot;
+import edu.wpi.first.wpilibj.Joystick.AxisType;
import edu.wpi.first.wpilibj.command.Command;
/**
*/
public class JoystickDrive extends Command {
+ double previousThrust = 0;
+ double previousTwist = 0;
+
public JoystickDrive() {
requires(Robot.getDriveTrain());
}
@Override
protected void execute() {
- // final double thrust = OI.rightJoystick.getY();
- // final double twist = OI.rightJoystick.getTwist();
- //
- // Robot.getDriveTrain().joystickDrive(-thrust, -twist);
- double left = OI.leftJoystick.getY();
- double right = OI.rightJoystick.getY();
- Robot.getDriveTrain().tankDrive(left, right);
+ double thrust = OI.xboxController.getY();
+ double twist = OI.xboxController.getAxis(AxisType.kZ);
+
+ thrust = (6 * previousThrust + thrust) / 7;
+ twist = (6 * previousTwist + twist) / 7;
+
+ previousThrust = thrust;
+ previousTwist = twist;
+
+ Robot.getDriveTrain().joystickDrive(-thrust, -twist);
}
@Override