Change Drive to operate on a command based model

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2020.1.1-beta-2"
+    id "edu.wpi.first.GradleRIO" version "2020.1.1-beta-4"
 }
 
 def ROBOT_MAIN_CLASS = "frc4388.robot.Main"

src/main/java/frc4388/robot/OI.java

@@ -8,6 +8,9 @@
 package frc4388.robot;
 
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
+import frc4388.robot.commands.Drive.DriveWithJoystick;
+import frc4388.robot.commands.Drive.GamerMove;
 import frc4388.utility.controller.IHandController;
 import frc4388.utility.controller.XboxController;
 
@@ -46,12 +49,16 @@ public class OI {
 
   private static OI instance;
   
-  private static XboxController m_driverXbox;
+  public static XboxController m_driverXbox;
   private static XboxController m_operatorXbox;
 
   public OI() {
     m_driverXbox = new XboxController(RobotMap.XBOX_DRIVER_ID);
     m_operatorXbox = new XboxController(RobotMap.XBOX_OPERATOR_ID);
+
+    JoystickButton GamerMove = new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON);
+    GamerMove.whenPressed(new GamerMove());
+    GamerMove.whenReleased(new DriveWithJoystick());
   }
 
   public static OI getInstance() {
@@ -74,4 +81,9 @@ public class OI {
   {
     return m_operatorXbox.getJoyStick();
   }
+
+  public Joystick getDriverJoystick()
+  {
+    return m_driverXbox.getJoyStick();
+  }
 }

src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java

@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.Drive;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc4388.robot.OI;
+import frc4388.robot.Robot;
+
+public class DriveWithJoystick extends Command {
+
+  public double m_inputMove, m_inputSteer;
+
+  public DriveWithJoystick() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+    requires(Robot.m_Drive);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    m_inputMove = OI.getInstance().getDriverController().getLeftYAxis();
+    m_inputSteer = -(OI.getInstance().getDriverController().getRightXAxis());
+    Robot.m_Drive.driveWithInput(m_inputMove, m_inputSteer);
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}

src/main/java/frc4388/robot/commands/Drive/GamerMove.java

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.Drive;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc4388.robot.Robot;
+
+public class GamerMove extends Command {
+  public GamerMove() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+    requires(Robot.m_Drive);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    Robot.m_Drive.gamerMove();
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}

src/main/java/frc4388/robot/subsystems/Drive.java

@@ -17,6 +17,8 @@ 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.commands.Drive.DriveWithJoystick;
+import frc4388.robot.commands.Drive.GamerMove;
 import frc4388.robot.OI;
 import frc4388.robot.Robot;
 import frc4388.utility.controller.XboxController;
@@ -61,17 +63,18 @@ public class Drive extends Subsystem {
     m_rightBackMotor.setInverted(InvertType.FollowMaster);
   }
 
-  @Override
-  public void periodic() {
-    m_inputMove = OI.getInstance().getDriverController().getLeftYAxis();
-    m_inputSteer = -(OI.getInstance().getDriverController().getRightXAxis());
+  public void driveWithInput(double move, double steer){
+    m_driveTrain.arcadeDrive(move, steer);
+  }
 
-    m_driveTrain.arcadeDrive(m_inputMove, m_inputSteer);
+  public void gamerMove(){
+    m_driveTrain.arcadeDrive(0, 1);
   }
 
   @Override
   public void initDefaultCommand() {
     // Set the default command for a subsystem here.
     // setDefaultCommand(new MySpecialCommand());
+    setDefaultCommand(new DriveWithJoystick());
   }
 }