import edu.wpi.first.wpilibj.command.Command;
/**
- *
+ * This command will run throughout teleop and listens for joystick inputs to
+ * drive the driveTrain. This never finishes until teleop ends. - works in
+ * conjunction with OI.java
*/
public class JoystickDrive extends Command {
@Override
protected void execute() {
- final double thrust = OI.rightJoystick.getY();
- final double twist = OI.rightJoystick.getTwist();
-
- Robot.getDriveTrain().joystickDrive(-thrust, -twist);
+ // 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);
}
@Override