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
  10         requires(drivetrain);
  11     }
  12
  13     protected void execute() {
  14         double forward = oi.getForwardR();
  15         double twist   = oi.getTwistR();
  16
  17         // option to lock twist for alignment
  18         if (oi.getRightPressed(3, 4, 5, 6))
  19             twist = 0;
  20
  21         drivetrain.drive(forward, twist);
  22     }
  23
  24     protected boolean isFinished() {
  25         return false;
  26     }
  27 }