Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 08:48:01 -06:00
Code Issues Packages Projects Releases Wiki Activity

Try demo mode!

Browse Source
This commit is contained in:
aborunda
2021-10-21 17:57:31 -06:00
parent 2f89edb04c
commit 4aedf1373c
5 changed files with 277 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java
+11 -2
View File
@@ -8,6 +8,7 @@
package frc4388.robot.commands.drive;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Robot;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Pneumatics;
@@ -42,8 +43,16 @@ public class DriveWithJoystick extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double moveInput = m_controller.getLeftYAxis();
double steerInput = m_controller.getRightXAxis();
double moveInput;
double steerInput;
if (Robot.lastIsTest()) {
moveInput = m_controller.getLeftYAxis() / 2;
steerInput = m_controller.getRightXAxis() / 2;
} else {
moveInput = m_controller.getLeftYAxis();
steerInput = m_controller.getRightXAxis();
}
double moveOutput = 0;
double steerOutput = 0;
if (moveInput >= 0){