Robot.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc.robot;

import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;

import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;

public class Robot extends TimedRobot {
  private CANSparkMax zero, one , two , three;
  private XboxController xboi;
  private DifferentialDrive driveyBoi;



  /**
   * This function is run when the robot is first started up and should be
   * used for any initialization code.
   */
  @Override
  public void robotInit() {
    zero = new CANSparkMax(1, MotorType.kBrushless);
    one = new CANSparkMax(2, MotorType.kBrushless);
    two = new CANSparkMax(3, MotorType.kBrushless);
    three = new CANSparkMax(4, MotorType.kBrushless);
      
    xboi = new XboxController(1);
    two.follow(zero);
    three.follow(one);
    three.setInverted(true);
    two.setInverted(true);
    driveyBoi = new DifferentialDrive(zero, one);
  }

  /**
   * This function is called every robot packet, no matter the mode. Use
   * this for items like diagnostics that you want ran during disabled,
   * autonomous, teleoperated and test.
   *
   * <p>This runs after the mode specific periodic functions, but before
   * LiveWindow and SmartDashboard integrated updating.
   */
  @Override
  public void robotPeriodic() {
  }

  /**
   * This autonomous (along with the chooser code above) shows how to select
   * between different autonomous modes using the dashboard. The sendable
   * chooser code works with the Java SmartDashboard. If you prefer the
   * LabVIEW Dashboard, remove all of the chooser code and uncomment the
   * getString line to get the auto name from the text box below the Gyro
   *
   * <p>You can add additional auto modes by adding additional comparisons to
   * the switch structure below with additional strings. If using the
   * SendableChooser make sure to add them to the chooser code above as well.
   */
  @Override
  public void autonomousInit() {
  }

  /**
   * This function is called periodically during autonomous.
   */
  @Override
  public void autonomousPeriodic() {
  }

  /**
   * This function is called periodically during operator control.
   */
  @Override
  public void teleopPeriodic() {
    driveyBoi.arcadeDrive(xboi.getRawAxis(1), xboi.getRawAxis(0));
   
  }

  /**
   * This function is called periodically during test mode.
   */
  @Override
  public void testPeriodic() {
  }
}