Robot.java

package org.usfirst.frc.team295.robot;


import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.VictorSP;

/**
 * This is a demo program showing the use of the RobotDrive class, specifically it 
 * contains the code necessary to operate a robot with tank drive.
 *
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the SampleRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 *
 * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
 * don't. Unless you know what you are doing, complex code will be much more difficult under
 * this system. Use IterativeRobot or Command-Based instead if you're new.
 */
public class Robot extends SampleRobot {
    RobotDrive myRobot;  // class that handles basic drive operations
    Joystick driver;  // set to ID 1 in DriverStation
    Jaguar driveBackLeft;
    Victor driveBackRight;
    Jaguar driveFrontLeft;
    Jaguar driveFrontRight;

    public Robot() {
    	driveBackLeft = new Jaguar(0);
    	driveFrontLeft = new Jaguar(1);
    	driveBackRight = new Victor(2);
    	driveFrontRight = new Jaguar(3);
    	
        myRobot = new RobotDrive(driveFrontLeft,driveBackLeft,driveFrontRight,driveBackRight);
        myRobot.setExpiration(0.1);
        driver = new Joystick(0);
    }

    
    /**
     * Runs the motors with tank steering.
     */
    public void operatorControl() {
//    	driveBackRight.set(1);
//    	driveFrontRight.set(1);
//    	driveBackLeft.set(1);
//    	driveFrontLeft.set(1);
        while (isOperatorControl() && isEnabled()) {
        	myRobot.tankDrive(driver.getRawAxis(1), driver.getRawAxis(5));
          Timer.delay(0.005);		// wait for a motor update time
        }
    }
    public void disabled(){
    	System.out.println("disabled");

    }

}