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 left = -OI.leftJoystick.getY();
  25     double right = -OI.rightJoystick.getTwist();
  26     Robot.driveTrain.drive(left, right);
  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 }