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package us.mn.k12.fairmont.robotics.commands;

/**
 *
 * @author Teacher
 */
public class DriveWithJoysticks extends CommandBase {

    public DriveWithJoysticks() {
        // Use requires() here to declare subsystem dependencies
        requires(drivetrain);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        drivetrain.driveMechanum_Cartesian(oi.getRightJoyY(), oi.getRightJoyX(), oi.getRightJoyR());
//        drivetrain.drivetest(oi.getRightJoyY(), oi.getLeftJoyY());
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return false;
    }

    // Called once after isFinished returns true
    protected void end() {
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    }
}