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Updating Robot.java with Zhan-Zhan's version of arcade driving #6

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Updating Robot.java with Zhan-Zhan's version of arcade driving #6

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62 changes: 8 additions & 54 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,71 +10,25 @@
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;

/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the TimedRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
Zhan-Zhan's version of acrade driving
*/
public class Robot extends TimedRobot {
private final DifferentialDrive m_robotDrive
= new DifferentialDrive(new Spark(0), new Spark(1));
private final Joystick m_stick = new Joystick(0);
private final Timer m_timer = new Timer();
private DifferentialDrive m_myRobot;
private Joystick m_xSpeed;
private Joystick m_zRotation;

/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
m_myRobot = new DifferentialDrive(new Spark(0), new Spark(1));
m_xSpeed = new Joystick(0);
m_zRotation = new Joystick(1);
}

/**
* This function is run once each time the robot enters autonomous mode.
*/
@Override
public void autonomousInit() {
m_timer.reset();
m_timer.start();
}

/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
// Drive for 2 seconds
if (m_timer.get() < 2.0) {
m_robotDrive.arcadeDrive(0.5, 0.0); // drive forwards half speed
} else {
m_robotDrive.stopMotor(); // stop robot
}
}

/**
* This function is called once each time the robot enters teleoperated mode.
*/
@Override
public void teleopInit() {
}

/**
* This function is called periodically during teleoperated mode.
*/
@Override
public void teleopPeriodic() {
m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
}

/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
m_myRobot.arcadeDrive(m_xSpeed.getY(), m_zRotation.getX());
}
}