From: Cindy Zhang <cindyzyx9@gmail.com>
Date: Thu, 12 Jan 2017 05:17:05 +0000 (-0800)
Subject: change variables 'left' and 'right' that store joystick values to 'thrust' and 'twist'
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=commitdiff_plain;h=5483fde92e93a81b148371eb4eb9f69c44a7d591

change variables 'left' and 'right' that store joystick values to 'thrust' and 'twist'
---

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 cea1b6b..d12614f 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -20,10 +20,10 @@ 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
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 5389b23..4bbda0f 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 
 import com.ctre.CANTalon;
 
@@ -46,8 +47,8 @@ public class DriveTrain extends Subsystem {
     robotDrive.tankDrive(left, right);
   }
 
-  public void joystickDrive(final double left, final double right) {
-    robotDrive.tankDrive(left, right);
+  public void joystickDrive(final double thrust, final double twist) {
+    robotDrive.arcadeDrive(thrust, twist);
   }
 
   public void stop() {
@@ -119,6 +120,7 @@ public class DriveTrain extends Subsystem {
 
   @Override
   protected void initDefaultCommand() {
+    setDefaultCommand(new JoystickDrive());
   }
 
 }