package org.usfirst.frc.team1251;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Talon;

/**
 * Created by Eric Engelhart on 11/18/2017.
 */
public class Robot extends IterativeRobot {
    // front left, back left, front right, back right
    Talon FL;
    Talon BL;
    Talon FR;
    Talon BR;

    RobotDrive drivetrain;

    Joystick controller;

    @Override
    public void robotInit() {
        // assuming that the pwm ports are connected to speed controllers as follows:
        // front left: 0, front right: 1, back left: 2, back right: 3
        FL = new Talon(0);
        BL = new Talon(2);

        FR = new Talon(1);
        BR = new Talon(3);

        drivetrain = new RobotDrive(FL, BL, FR, BR);
        // controller plugged into the usb port 0
        controller = new Joystick(0);
    }

    @Override
    public void autonomousInit() {

    }

    @Override
    public void autonomousPeriodic() {

    }

    @Override
    public void teleopInit() {

    }

    @Override
    public void teleopPeriodic() {
        // assuming the left drive input is the 0th axis, and the right drive input is the 1st axis
        drivetrain.tankDrive(controller.getRawAxis(0), controller.getRawAxis(1));
    }

}