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Change Drive to operate on a command based model

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This commit is contained in:
Keenan D. Buckley
2019-12-20 12:53:02 -07:00
parent 9cb8e6d6d6
commit cb904002ad
5 changed files with 122 additions and 7 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+8 -5
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@@ -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());
}
}