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 thrust = Robot.oi.leftJoystick.getY();
  24     double twist = Robot.oi.leftJoystick.getTwist();
  25
  26     Robot.driveTrain.joystickDrive(thrust, twist);
  27   }
  28
  29   @Override
  30   protected boolean isFinished() {
  31     return false;
  32   }
  33
  34   @Override
  35   protected void end() {
  36     Robot.driveTrain.stop();
  37   }
  38
  39   @Override
  40   protected void interrupted() {
  41   }
  42 }