Command-Based robot + OI + joystick axis?

[trycatch]

Hey all. This is my first year trying to transfer over to Command Based, and I think I've got most of it figured out. I've got a few JoystickButtons with whenPressed commands in the OI, but I'm a bit fuzzy on how to handle the actual joystick x, y, and twist. Is there an on-pressed equivalent, or should I just get the x, y and twist every teleopPeriodic and add a new Drive() to the scheduler?

Thanks all!

[WSiggs]

Originally Posted by trycatch

Hey all. This is my first year trying to transfer over to Command Based, and I think I've got most of it figured out. I've got a few JoystickButtons with whenPressed commands in the OI, but I'm a bit fuzzy on how to handle the actual joystick x, y, and twist. Is there an on-pressed equivalent, or should I just get the x, y and twist every teleopPeriodic and add a new Drive() to the scheduler?

Thanks all!

You shouldn't need to change anything in teleopPeriodic, the easiest way is to just set a default command for your drive subsystem, and then in the execute method of the command set the drive motors to the value from the joysticks.