From c9da9d85851a5e5de02a7b87af7c2f2b0b57bd52 Mon Sep 17 00:00:00 2001
From: HFocus <keenandbuckley@gmail.com>
Date: Wed, 7 Aug 2019 19:20:10 -0600
Subject: [PATCH] Implement Drive Code

---
 build.gradle                                    |  2 +-
 src/main/java/frc4388/robot/Robot.java          |  2 ++
 .../java/frc4388/robot/subsystems/Drive.java    | 17 ++++++++++++-----
 3 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/build.gradle b/build.gradle
index 9128ffc..9216a46 100644
--- a/build.gradle
+++ b/build.gradle
@@ -3,7 +3,7 @@ plugins {
     id "edu.wpi.first.GradleRIO" version "2019.1.1"
 }
 
-def ROBOT_MAIN_CLASS = "frc.robot.Main"
+def ROBOT_MAIN_CLASS = "frc4388.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project EmbeddedTools.
diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index ed3e072..aa44e07 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc4388.robot.commands.ExampleCommand;
+import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.ExampleSubsystem;
 import frc4388.robot.subsystems.LED;
 import frc4388.utility.controller.XboxController;
@@ -27,6 +28,7 @@ import frc4388.utility.controller.XboxController;
 public class Robot extends TimedRobot {
   public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
   public static LED m_led = new LED();
+  public static Drive m_Drive = new Drive();
   public static OI m_oi;
 
   Command m_autonomousCommand;
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index d6be580..080c5eb 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import frc4388.robot.RobotMap;
+import frc4388.robot.OI;
 import frc4388.robot.Robot;
 import frc4388.utility.controller.XboxController;
 
@@ -27,12 +28,14 @@ public class Drive extends Subsystem {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
 
-  WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_FRONT_CAN_ID);
-  WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_FRONT_CAN_ID);
-  WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_BACK_CAN_ID);
-  WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_BACK_CAN_ID);
+  public static WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_FRONT_CAN_ID);
+  public static WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_FRONT_CAN_ID);
+  public static WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_LEFT_BACK_CAN_ID);
+  public static WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(RobotMap.DRIVE_RIGHT_BACK_CAN_ID);
 
-  DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
+  public static DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
+  
+  private static double m_inputMove, m_inputSteer;
 
   public Drive(){
     /* factory default values */
@@ -60,6 +63,10 @@ public class Drive extends Subsystem {
 
   @Override
   public void periodic() {
+    m_inputMove = OI.getInstance().getDriverController().getLeftYAxis();
+    m_inputSteer = -(OI.getInstance().getDriverController().getRightXAxis());
+
+    m_driveTrain.arcadeDrive(m_inputMove, m_inputSteer);
   }
 
   @Override