org.usfirst.frc.team302.robot.commands

Class CubedArcadeDrive

java.lang.Object

edu.wpi.first.wpilibj.command.Command

org.usfirst.frc.team302.robot.commands.CubedArcadeDrive

All Implemented Interfaces:

edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable

public class CubedArcadeDrive
extends edu.wpi.first.wpilibj.command.Command

This class will drive (control) the robot using an arcade (game) method. It will cube the joystick values to change the sensitivity.

Version:

version 1: 2/1/2016 -- Eric Smith and Klayton Smith -- initial command, version 2: 2/7/2016 -- Joe Witcpalek -- pulled into the command pattern

Author:

Eric Smith and Klayton Smith

Field Summary

Fields

Modifier and Type	Field and Description
protected Drive	m_drive
protected edu.wpi.first.wpilibj.Joystick	m_joystick

Constructor Summary

Constructors

Constructor and Description
CubedArcadeDrive() Construct this command and initialize the attributes (driver controller and drive subsystem).

Method Summary

Modifier and Type	Method and Description
protected void	end() Called once after isFinished returns true
protected void	execute() drive the robot using cubed inputs of the joystick with one joystick being the forward/backward movement and the other being left/right turning.
private double	getMoveStickValue() Read the move stick value and return the cube of this value.
private double	getRotateStickValue() Read the rotation stick value and return the cube of this value.
protected void	initialize() Called just before this Command runs the first time
protected void	interrupted() Called when another command which requires one or more of the same
protected boolean	isFinished() Make this return true when this Command no longer needs to run execute()

Methods inherited from class edu.wpi.first.wpilibj.command.Command

cancel, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

m_drive

protected Drive m_drive

m_joystick

protected edu.wpi.first.wpilibj.Joystick m_joystick

Constructor Detail

CubedArcadeDrive

public CubedArcadeDrive()

Construct this command and initialize the attributes (driver controller and drive subsystem).

Method Detail

initialize

protected void initialize()

Called just before this Command runs the first time

Specified by:

initialize in class edu.wpi.first.wpilibj.command.Command

execute

protected void execute()

drive the robot using cubed inputs of the joystick with one joystick being the forward/backward movement and the other being left/right turning. This is called repeatedly when this is scheduled to run.

Specified by:

execute in class edu.wpi.first.wpilibj.command.Command

getRotateStickValue

private double getRotateStickValue()

Read the rotation stick value and return the cube of this value.

Returns:

value to rotate the robot left/right

getMoveStickValue

private double getMoveStickValue()

Read the move stick value and return the cube of this value.

Returns:

the value to move the robot forward/backward

isFinished

protected boolean isFinished()

Make this return true when this Command no longer needs to run execute()

Specified by:

isFinished in class edu.wpi.first.wpilibj.command.Command

end

protected void end()

Called once after isFinished returns true

Specified by:

end in class edu.wpi.first.wpilibj.command.Command

interrupted

protected void interrupted()

Called when another command which requires one or more of the same

Specified by:

interrupted in class edu.wpi.first.wpilibj.command.Command