Commit | Line | Data |
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33141cdd KZ |
1 | package org.usfirst.frc.team3501.robot.commands.driving; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Robot; | |
4 | ||
5 | import edu.wpi.first.wpilibj.command.Command; | |
6 | ||
7 | /** | |
8 | * | |
9 | */ | |
10 | public class JoystickDrive extends Command { | |
11 | ||
12 | public JoystickDrive() { | |
13 | requires(Robot.driveTrain); | |
14 | } | |
15 | ||
16 | @Override | |
17 | protected void initialize() { | |
18 | } | |
19 | ||
20 | @Override | |
21 | protected void execute() { | |
22 | // IDK why but the joystick gives positive values for pulling backwards | |
23 | double left = -Robot.oi.leftJoystick.getY(); | |
24 | double right = -Robot.oi.rightJoystick.getY(); | |
25 | Robot.driveTrain.drive(left, right); | |
26 | } | |
27 | ||
28 | @Override | |
29 | protected boolean isFinished() { | |
30 | return false; | |
31 | } | |
32 | ||
33 | @Override | |
34 | protected void end() { | |
35 | Robot.driveTrain.stop(); | |
36 | } | |
37 | ||
38 | @Override | |
39 | protected void interrupted() { | |
40 | end(); | |
41 | } | |
42 | } |