made robot drive

Team766 · Nov 7, 2024 · 245cc2e · 245cc2e
1 parent e4161c8
commit 245cc2e
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diff --git a/src/main/java/com/team766/robot/rookie_bot/OI.java b/src/main/java/com/team766/robot/rookie_bot/OI.java
@@ -24,12 +24,16 @@ public OI() {
         joystick2 = RobotProvider.instance.getJoystick(2);
     }
 
+
+
     public void run(final Context context) {
         while (true) {
             // wait for driver station data (and refresh it using the WPILib APIs)
             context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
             RobotProvider.instance.refreshDriverStationData();
 
+            Robot.drive.setArcadeDrivePower(joystick0.getAxis(1), joystick0.getAxis(4));
+
             // Add driver controls here - make sure to take/release ownership
             // of mechanisms when appropriate.
         }

diff --git a/src/main/java/com/team766/robot/rookie_bot/mechanisms/Drive.java b/src/main/java/com/team766/robot/rookie_bot/mechanisms/Drive.java
@@ -17,4 +17,13 @@ public void drive(double leftPower, double rightPower) {
         leftMotor.set(leftPower);
         rightMotor.set(rightPower);
     }
+
+    public void setArcadeDrivePower(double forward, double turn) {
+        double leftMotorPower= turn + forward;
+        double rightMotorPower= -turn + forward;
+        drive(leftMotorPower, rightMotorPower);
+
+
+
+}
 }