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  * Runs throughout teleop and listens for joystick inputs and drives the
   9  * driveTrain Never finishes until teleop ends
  10  */
  11 public class JoystickDrive extends Command {
  12
  13   public JoystickDrive() {
  14     requires(Robot.driveTrain);
  15   }
  16
  17   @Override
  18   protected void initialize() {
  19   }
  20
  21   @Override
  22   protected void execute() {
  23     double k = (Robot.driveTrain.isFlipped() ? -1 : 1);
  24     // IDK why but the joystick gives positive values for pulling backwards
  25     double left = -Robot.oi.leftJoystick.getY();
  26     double right = -Robot.oi.rightJoystick.getY();
  27     Robot.driveTrain.drive(left * k, right * k);
  28   }
  29
  30   @Override
  31   protected boolean isFinished() {
  32     return false;
  33   }
  34
  35   @Override
  36   protected void end() {
  37     Robot.driveTrain.stop();
  38   }
  39
  40   @Override
  41   protected void interrupted() {
  42   }
  43 }