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 f06eb2f37713c71603d3cb65bfa336ccac71e708..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
@@ -6,37 +6,39 @@ 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 {
 
-    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.rightJoystick.getY();
+    final double twist = OI.rightJoystick.getTwist();
 
-        Robot.getDriveTrain().joystickDrive(left, right);
-    }
+    Robot.getDriveTrain().joystickDrive(-thrust, -twist);
+  }
 
-    @Override
-    protected boolean isFinished() {
-        return false;
-    }
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
 
-    @Override
-    protected void end() {
-        Robot.getDriveTrain().stop();
-    }
+  @Override
+  protected void end() {
+    Robot.getDriveTrain().stop();
+  }
 
-    @Override
-    protected void interrupted() {
-    }
+  @Override
+  protected void interrupted() {
+  }
 }