challenge-bot.com Git - 3501/3501-spark-go/blob - src/org/usfirst/frc/team3501/robot/commands/DriveWithJoysticks.java

   1 package org.usfirst.frc.team3501.robot.commands;
   2
   3 import org.usfirst.frc.team3501.bases.Command;
   4
   5 public class DriveWithJoysticks extends Command {
   6
   7     public DriveWithJoysticks() {
   8         super("DriveWithJoysticks");
   9         requires(drivetrain);
  10     }
  11
  12     protected void execute() {
  13         double forward = oi.getForwardR();
  14         double twist   = oi.getTwistR();
  15
  16         // option to lock twist for alignment
  17         if (oi.getRightPressed(3, 4, 5, 6))
  18             twist = 0;
  19
  20         drivetrain.drive(forward, twist);
  21     }
  22
  23     protected boolean isFinished() {
  24         return false;
  25     }
  26 }