[joelg236]

I am completely new at FRC programming, and I'm not sure what really is the best way to go about it. Anyone care to give suggestions?

package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.*;

public class RobotTemplate extends IterativeRobot {

    public RobotDrive drivetrain;
    public Joystick leftStick;
    public Joystick rightStick;
    public Joystick KTrigger;
    public Gyro gyro; //gyro
    public Watchdog getWatchdog;
    
    

    public void robotInit(){
        drivetrain = new RobotDrive(1, 2, 3, 4);  
        leftStick = new Joystick(1);    
        rightStick = new Joystick(2);
        KTrigger = new Joystick(3);
    }


    public void autonomousPeriodic(){
        getWatchdog.kill();
        int x = 1;
        do{    
            gyro.reset();

            int i=0;
            while(i<4){    
                drivetrain.drive(0.5,0.0); //START GOING STRAIGHT
                Timer.delay(4.0);
                drivetrain.drive(0.0,0.0); //STOP
                Timer.delay(4.0);
                gyro.reset();
                double angle = 0;
                do {
                    drivetrain.drive(0.0, 0.15); //TURN 
                    Timer.delay(0.5);
                    angle += gyro.getAngle(); //
                    gyro.reset();
                    log("Gyro reads "+angle);
                }while(angle<90); //Keep going in increments of .15 until gyro returns more than 90 degrees
                drivetrain.drive(0.0,0.0); //STOP
                Timer.delay(4.0);
                i++;
            }
        }while(x>0);
    } 

    public void teleopPeriodic() {
        getWatchdog().kill();
        while (isOperatorControl() && isEnabled()){
        Timer.delay(0.002);
                while(KTrigger.getTrigger()){
                    drivetrain.drive(0.0,0.0);
                    Timer.delay(1.0);
                }
            double leftYAxis = leftStick.getAxis(Joystick.AxisType.kY);
            double leftXAxis = leftStick.getAxis(Joystick.AxisType.kX);
            double rightYAxis = rightStick.getAxis(Joystick.AxisType.kY);
            double rightXAxis = rightStick.getAxis(Joystick.AxisType.kX);
            double powerValue = ((leftXAxis+rightXAxis)/2); // FIND RIGHT CALCULATION FOR 0-100% (0.0-1.0)
            double turnValue = ((leftYAxis+rightYAxis)/2);//FIND RIGHT CALCULATION FOR 0.0-1.0
            drivetrain.drive(powerValue,turnValue);
        }
    }
    public static String log(String aMessage){
        System.out.println(aMessage);
        return aMessage;
    }
}