competition fixes

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / driving / JoystickDrive.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
index d1e0f9c1f660f81f58e1310d668b689f146988c5..006a13cecc2c58568b7695da36a50c3c78a2de59 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -3,6 +3,7 @@ package org.usfirst.frc.team3501.robot.commands.driving;
 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;
 
 /**
@@ -12,6 +13,9 @@ import edu.wpi.first.wpilibj.command.Command;
  */
 public class JoystickDrive extends Command {
 
+  double previousThrust = 0;
+  double previousTwist = 0;
+
   public JoystickDrive() {
     requires(Robot.getDriveTrain());
   }
@@ -22,8 +26,14 @@ public class JoystickDrive extends Command {
 
   @Override
   protected void execute() {
-    final double thrust = OI.rightJoystick.getY();
-    final double twist = OI.rightJoystick.getTwist();
+    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);
   }