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33141cdd KZ |
1 | package org.usfirst.frc.team3501.robot.commands.driving; |
2 | ||
f8bfcc62 | 3 | import org.usfirst.frc.team3501.robot.OI; |
33141cdd KZ |
4 | import org.usfirst.frc.team3501.robot.Robot; |
5 | ||
6 | import edu.wpi.first.wpilibj.command.Command; | |
7 | ||
8 | /** | |
1c94f230 | 9 | * Runs throughout teleop and listens for joystick inputs and drives the |
571a0e2a | 10 | * driveTrain Never finishes until teleop ends |
33141cdd KZ |
11 | */ |
12 | public class JoystickDrive extends Command { | |
13 | ||
14 | public JoystickDrive() { | |
15 | requires(Robot.driveTrain); | |
16 | } | |
17 | ||
18 | @Override | |
19 | protected void initialize() { | |
20 | } | |
21 | ||
22 | @Override | |
23 | protected void execute() { | |
571a0e2a | 24 | double k = (Robot.driveTrain.isFlipped() ? -1 : 1); |
33141cdd | 25 | // IDK why but the joystick gives positive values for pulling backwards |
f8bfcc62 HD |
26 | double left = -OI.leftJoystick.getY(); |
27 | double right = -OI.rightJoystick.getY(); | |
571a0e2a | 28 | Robot.driveTrain.drive(left * k, right * k); |
33141cdd KZ |
29 | } |
30 | ||
31 | @Override | |
32 | protected boolean isFinished() { | |
33 | return false; | |
34 | } | |
35 | ||
36 | @Override | |
37 | protected void end() { | |
38 | Robot.driveTrain.stop(); | |
39 | } | |
40 | ||
41 | @Override | |
42 | protected void interrupted() { | |
33141cdd KZ |
43 | } |
44 | } |