Straight Drive Triggers

src/org/team3042/sweep/OI.java

@@ -2,6 +2,8 @@
 package org.team3042.sweep;
 
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.Button;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
 
 /**
  * This class is the glue that binds the controls on the physical operator
@@ -16,6 +18,8 @@ public class OI {
     public Joystick stickRight = new Joystick(  RobotMap.RIGHT_JOY_USB_PORT_2);
     // Button button = new JoystickButton(stick, buttonNumber);
 
+    public Button lTrigger = new JoystickButton(stickLeft, 1);
+    public Button rTrigger = new JoystickButton(stickRight, 1);
     // Another type of button you can create is a DigitalIOButton, which is
     // a button or switch hooked up to the cypress module. These are useful if
     // you want to build a customized operator interface.
@@ -39,6 +43,6 @@ public class OI {
 
     // Start the command when the button is released  and let it run the command
     // until it is finished as determined by it's isFinished method.
-    // button.whenReleased(new ExampleCommand());
+     
 }
 

src/org/team3042/sweep/commands/DriveTrainTankDrive.java

@@ -11,6 +11,9 @@
  */
 public class DriveTrainTankDrive extends CommandBase {
 
+    private static double leftPower;
+    private static double rightPower;
+
     public DriveTrainTankDrive() {
         // Use requires() here to declare subsystem dependencies
         // eg. requires(chassis);
@@ -23,7 +26,16 @@ protected void initialize() {
 
     // Called repeatedly when this Command is scheduled to run
     protected void execute() {
-        driveTrain.drive(-oi.stickLeft.getY(), -oi.stickRight.getY());
+        leftPower = -oi.stickLeft.getY();
+        rightPower = -oi.stickRight.getY();
+
+        if(oi.lTrigger.get()){
+            rightPower = leftPower;
+        }
+        else if (oi.rTrigger.get()){
+            leftPower = rightPower;
+        }
+        driveTrain.drive(leftPower, rightPower);
     }
 
     // Make this return true when this Command no longer needs to run execute()