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.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 }