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[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 f06eb2f37713c71603d3cb65bfa336ccac71e708..aa9bfafffe20b46aa0ac71a372d57feda8e4f5cb 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -3,40 +3,48 @@ 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;
 
 /**
- *
+ * 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());
-    }
+  public JoystickDrive() {
+    requires(Robot.getDriveTrain());
+  }
 
-    @Override
-    protected void initialize() {
-    }
+  @Override
+  protected void initialize() {
+  }
 
-    @Override
-    protected void execute() {
-        double left = OI.leftJoystick.getY();
-        double right = OI.rightJoystick.getY();
+  @Override
+  protected void execute() {
+    final double thrust = OI.xboxController.getY();
+    final double twist = OI.xboxController.getAxis(AxisType.kZ);
 
-        Robot.getDriveTrain().joystickDrive(left, right);
-    }
+    Robot.getDriveTrain().joystickDrive(-thrust, -twist);
 
-    @Override
-    protected boolean isFinished() {
-        return false;
-    }
+    /*
+     * double left = OI.leftJoystick.getY(); double right =
+     * OI.rightJoystick.getY(); Robot.getDriveTrain().tankDrive(-left, -right);
+     */
+  }
 
-    @Override
-    protected void end() {
-        Robot.getDriveTrain().stop();
-    }
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
 
-    @Override
-    protected void interrupted() {
-    }
+  @Override
+  protected void end() {
+    Robot.getDriveTrain().stop();
+  }
+
+  @Override
+  protected void interrupted() {
+  }
 }