Okay so I changed it to this:
Code:
package org.usfirst.frc.team4623.robot;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* 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 Robot extends IterativeRobot {
public XBox stick = new XBox(0);
SpeedController frontLeftMotor = new Jaguar(0);
SpeedController frontRightMotor = new Jaguar(1);
SpeedController rearLeftMotor = new Jaguar(2);
SpeedController rearRightMotor = new Jaguar(3);
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotInit() {
}
/**
* This function is run once each time the robot enters autonomous mode
*/
public void autonomousInit() {
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
}
/**
* This function is called once each time the robot enters tele-operated mode
*/
public void teleopInit(){
}
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {
mecanumDrive(
(stick.getLeftJoyX()+stick.getLeftJoyY())/2,
(stick.getLeftJoyY()-stick.getLeftJoyX())/2,
-(stick.getLeftJoyY()-stick.getLeftJoyX())/2,
-(stick.getLeftJoyX()+stick.getLeftJoyY())/2);
}
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
LiveWindow.run();
}
public void mecanumDrive(double FL, double RL, double FR, double RR) {
frontLeftMotor.set(FL);
rearLeftMotor.set(RL);
frontRightMotor.set(FR);
rearRightMotor.set(RR);
}
}
But now only the Y axis of the left joystick does anything and it only activates two motors. And then the left trigger activates two motors. Im so confused because I never even took the values for the left trigger. Is my mecanum code even right - like will it even ever work. And if not how do I program it to work?
THANKS!