challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java

   1 package org.usfirst.frc.team3501.robot.commands.driving;
   2
   3 import org.usfirst.frc.team3501.robot.OI;
   4 import org.usfirst.frc.team3501.robot.Robot;
   5
   6 import edu.wpi.first.wpilibj.command.Command;
   7
   8 /**
   9  * Runs throughout teleop and listens for joystick inputs and drives the
  10  * driveTrain Never finishes until teleop ends
  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() {
  24     double k = (Robot.driveTrain.isFlipped() ? -1 : 1);
  25     // IDK why but the joystick gives positive values for pulling backwards
  26     double left = -OI.leftJoystick.getY();
  27     double right = -OI.rightJoystick.getY();
  28     Robot.driveTrain.drive(left * k, right * k);
  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() {
  43   }
  44 }