[Clint3176]

package BasicMecanumDrive;


import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.can.CANTimeoutException;
import edu.wpi.first.wpilibj.*;


public class BasicMecanumDrive extends IterativeRobot {
CANJaguar frontLeft, frontRight, backLeft, backRight;

Joystick leftStick, rightStick;
RobotDrive robotDrive;

private final Encoder encoder = new Encoder(13,14);


public void robotInit() {

leftStick = new Joystick(1);
rightStick = new Joystick(2);



try {
frontLeft = new CANJaguar(4);
frontRight = new CANJaguar(1);
backLeft = new CANJaguar(3);
backRight = new CANJaguar(2);

encoder.start();
encoder.reset();

robotDrive = new RobotDrive(frontLeft, backLeft, frontRight, backRight);
} catch (CANTimeoutException ex) {
ex.printStackTrace();
}


}



public void autonomousPeriodic() {

}


public void teleopInit () {


}
public void teleopPeriodic() {
robotDrive.mecanumDrive_Cartesian(rightStick.getX( ), rightStick.getY(), -leftStick.getY(), 0);


if (encoder.getRaw()> 20000) {
System.out.println("Gots It");
}
System.out.println(encoder.get());

DriverStationLCD.getInstance().println(DriverStati onLCD.Line.kUser2, 2, "Encoder"+ encoder.get());
DriverStationLCD.getInstance().updateLCD();



}

}



Here's our code currently. We are just running a few things to eliminate potential problems from other systems.