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 {
- public JoystickDrive() {
- requires(Robot.getDriveTrain());
- }
-
- @Override
- protected void initialize() {
- }
-
- @Override
- protected void execute() {
- double left = OI.leftJoystick.getY();
- double right = OI.rightJoystick.getY();
-
- Robot.getDriveTrain().joystickDrive(left, right);
- }
-
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- @Override
- protected void end() {
- Robot.getDriveTrain().stop();
- }
-
- @Override
- protected void interrupted() {
- }
+ public JoystickDrive() {
+ requires(Robot.getDriveTrain());
+ }
+
+ @Override
+ protected void initialize() {
+ }
+
+ @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);
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return false;
+ }
+
+ @Override
+ protected void end() {
+ Robot.getDriveTrain().stop();
+ }
+
+ @Override
+ protected void interrupted() {
+ }
}