package org.usfirst.frc308.FRC2017.commands;

import org.usfirst.frc308.FRC2017.Robot;
import org.usfirst.frc308.FRC2017.RobotConstants;
import org.usfirst.frc308.FRC2017.RobotMap;

import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**
 *
 */
public class TeleopDrive extends Command {

    public TeleopDrive() {

        requires(Robot.chassis);

    }

    // Called just before this Command runs the first time
    protected void initialize() {
        Robot.chassis.setupDrive();
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
//Test
        if (RobotConstants.singleJoystick) { // One Driver
            double forward = Robot.chassis.deadZone(Robot.oi.joystick1.getY()); // forward
            double turn = -(Robot.chassis.deadZone(Robot.oi.joystick1.getX())); // turn
            Robot.chassis.arcadeDrive(forward, turn);
            SmartDashboard.putDouble("Controller forward", forward);
            SmartDashboard.putDouble("Controller turn", turn);
            SmartDashboard.putDouble("Controller X", Robot.oi.joystick1.getX());
            SmartDashboard.putDouble("Controller Y", Robot.oi.joystick1.getY());
            SmartDashboard.putNumber("Gyro Angle", RobotMap.spiGyro_1.getAngle());
        } else { // Two drivers
            double forward = Robot.chassis.deadZone(Robot.oi.joystick2.getY()); // forward
            double turn = -(Robot.chassis.deadZone(Robot.oi.joystick2.getX())); // turn
            Robot.chassis.arcadeDrive(forward, turn);
            SmartDashboard.putDouble("Controller forward", forward);
            SmartDashboard.putDouble("Controller turn", turn);
            SmartDashboard.putDouble("Controller X", Robot.oi.joystick2.getX());
            SmartDashboard.putDouble("Controller Y", Robot.oi.joystick2.getY());
            SmartDashboard.putNumber("Gyro Angle", RobotMap.spiGyro_1.getAngle());
        }

        Robot.chassis.displayChasisData();

    }

    @Override
    protected boolean isFinished() {
        // TODO Auto-generated method stub
        return false;
    }

}
package org.usfirst.frc308.FRC2017.commands;

import org.usfirst.frc308.FRC2017.Robot;
import org.usfirst.frc308.FRC2017.RobotConstants;
import org.usfirst.frc308.FRC2017.RobotMap;

import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**
 *
 */
public class TeleopDrive extends Command {

    public TeleopDrive() {

        requires(Robot.chassis);

    }

    // Called just before this Command runs the first time
    protected void initialize() {
        Robot.chassis.setupDrive();
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
//Test
        if (RobotConstants.singleJoystick) { // One Driver
            double forward = Robot.chassis.deadZone(Robot.oi.joystick1.getY()); // forward
            double turn = Robot.chassis.deadZone(Robot.oi.joystick1.getX()); // turn
            Robot.chassis.arcadeDrive(forward, turn);
            SmartDashboard.putDouble("Controller forward", forward);
            SmartDashboard.putDouble("Controller turn", turn);
            SmartDashboard.putDouble("Controller X", Robot.oi.joystick1.getX());
            SmartDashboard.putDouble("Controller Y", Robot.oi.joystick1.getY());
            SmartDashboard.putNumber("Gyro Angle", RobotMap.spiGyro_1.getAngle());
        } else { // Two drivers
            double forward = Robot.chassis.deadZone(Robot.oi.joystick2.getY()); // forward
            double turn = -(Robot.chassis.deadZone(Robot.oi.joystick2.getX())); // turn
            Robot.chassis.arcadeDrive(forward, turn);
            SmartDashboard.putDouble("Controller forward", forward);
            SmartDashboard.putDouble("Controller turn", turn);
            SmartDashboard.putDouble("Controller X", Robot.oi.joystick2.getX());
            SmartDashboard.putDouble("Controller Y", Robot.oi.joystick2.getY());
            SmartDashboard.putNumber("Gyro Angle", RobotMap.spiGyro_1.getAngle());
        }

        Robot.chassis.displayChasisData();

    }

    @Override
    protected boolean isFinished() {
        // TODO Auto-generated method stub
        return false;
    }

}
Switch X Axis