finish implement driveDistance and TurnForAngle using PID algorithm

[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 cea1b6b919bbe92e36869d576c1eb7aa8ba70e22..d1e0f9c1f660f81f58e1310d668b689f146988c5 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -6,7 +6,9 @@ import org.usfirst.frc.team3501.robot.Robot;
 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 {
 
@@ -20,10 +22,10 @@ public class JoystickDrive extends Command {
 
   @Override
   protected void execute() {
-    final double left = OI.leftJoystick.getY();
-    final double right = OI.rightJoystick.getY();
+    final double thrust = OI.rightJoystick.getY();
+    final double twist = OI.rightJoystick.getTwist();
 
-    Robot.getDriveTrain().joystickDrive(left, right);
+    Robot.getDriveTrain().joystickDrive(-thrust, -twist);
   }
 
   @Override