From cb6be490a491ddba26d0b5bbb8096f535925ac0c Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Tue, 19 Jul 2016 18:19:20 +0000
Subject: [PATCH] added drivebase subsystem and blank command

---
 .../frc/team2059/robot/commands/Drive.java    | 33 +++++++++++++++++++
 .../team2059/robot/subsystems/Drivebase.java  | 27 +++++++++++++++
 2 files changed, 60 insertions(+)
 create mode 100644 src/org/usfirst/frc/team2059/robot/commands/Drive.java
 create mode 100644 src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java

diff --git a/src/org/usfirst/frc/team2059/robot/commands/Drive.java b/src/org/usfirst/frc/team2059/robot/commands/Drive.java
new file mode 100644
index 0000000..1207c09
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/commands/Drive.java
@@ -0,0 +1,33 @@
+package org.usfirst.frc.team2059.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+/**
+ *
+ */
+public class Drive extends Command {
+
+    public Drive() {
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    }
+
+    // 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() {
+    }
+}
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java b/src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java
new file mode 100644
index 0000000..d4d21e8
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java
@@ -0,0 +1,27 @@
+package org.usfirst.frc.team2059.robot.subsystems;
+
+import org.usfirst.frc.team2059.robot.RobotMap;
+import org.usfirst.frc.team2059.robot.commands.Drive;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.CANTalon;
+
+public class Drivebase extends Subsystem {
+
+   CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne);
+   CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
+   CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
+   CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorOne);
+
+    public void initDefaultCommand() {
+      setDefaultCommand(new Drive());
+    }
+
+    public void driveArcade(double x, double y, double z, double sensitivity){
+      leftMotorOne.set(-y+(x+z));
+      leftMotorTwo.set(-y+(x+z));
+      rightMotorOne.set(y+(x+z));
+      rightMotorTwo.set(y+(x+z));
+    }
+}
+