[-J.-]

Hi, I'm trying to start using Java for my team. I haven't had success yet, so we're probably using LabVIEW again. Nevertheless, I'd like to know what went wrong with this code:

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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.                                                               */
/*----------------------------------------------------------------------------*/

/*HOW (my name) CODES FOR ALL YALL
 * I like using small variables. You will see lots of chars.
 * I write my variables likeThis. That's called Pascal style, I think.
 */

package edu.wpi.first.wpilibj.templates;


//first stuff
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Timer;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot
 * 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.
 */
public class JRobot extends IterativeRobot {
    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    
    
    
    //button mappings
    
    //powers
    
    //random variables
    final boolean useSlowmo = false;
    
    
    //actual objects
    RobotDrive driveObject;
    Joystick mainPad;
    Jaguar motor1,motor2,motor3,motor4;
    public void robotInit() {
        mainPad = new Joystick(1);
        motor1 = new Jaguar(1);
        motor2 = new Jaguar(2);
        motor3 = new Jaguar(3);
        motor4 = new Jaguar(4);
        driveObject = new RobotDrive(motor1,motor2,motor4,motor3);
        //distanceMonitor = new Encoder(2,1,2,2);
        //tooEasy = new KinectStick(1);
    }

    /**
     * This function is called periodically during autonomous
     */
   
    public void disabledInit() {
        driveObject.stopMotor();
    }
    
    public void disabledContinuous() {
        //blah blah nobody cares
        Timer.delay(0.1);
    }
    
    public void disabledPeriodic() {
        //¡Nos gustan a los deportes y no nos importan a quienes lo saben!
        getWatchdog().feed();
    }
    
    public void autonomousInit() {
        
    }
    
    public void autonomousPeriodic() {
    
    }
    
    public void autonomousContinuous() {
      getWatchdog().feed();
      Timer.delay(0.1);
    }

    /**
     * This function is called periodically during operator control
     */
    
    public void teleopInit() {
        //still nothing here
    }
    
    public void teleopPeriodic() {
        
        
    }
    
    public void teleopContinuous() {
            //i use a double here so java doesn't complain about casting a float
            /*this says: is useSlowmo false? if so, halve the joysticks.
             otherwise, use full output.*/
        double slowmoMultiplier = 1;
            driveObject.mecanumDrive_Cartesian(mainPad.getX()*slowmoMultiplier,
                    mainPad.getY()*slowmoMultiplier,
                    mainPad.getTwist()*slowmoMultiplier,0.f);
            
    }
}

EDIT: There are some odd pieces of code (like slowmoMultiplier) because this is edited down from a larger chunk with more features. This is just a drivetrain test, so I removed most of that.