sorry about that 
here’s the RobotContainer class:
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. 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. */
/*----------------------------------------------------------------------------*/
package frc.robot;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import frc.robot.commands.DefaultDrive;
import frc.robot.commands.ExampleCommand;
import frc.robot.subsystems.Drivetrain;
import frc.robot.subsystems.ExampleSubsystem;
import edu.wpi.first.wpilibj2.command.Command;
/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
* periodic methods (other than the scheduler calls). Instead, the structure of the robot
* (including subsystems, commands, and button mappings) should be declared here.
*/
public class RobotContainer {
// The robot's subsystems and commands are defined here...
private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem);
private final Drivetrain drivetrain = new Drivetrain();
private final DefaultDrive defaultDrive = new DefaultDrive(drivetrain);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
// Configure the button bindings
configureButtonBindings();
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// An ExampleCommand will run in autonomous
return m_autoCommand;
}
public Command getDefaultDrive()
{
return defaultDrive;
}
}
and here’s the DefaultDrive command class:
package frc.robot.commands;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.Drivetrain;
public class DefaultDrive extends CommandBase
{
@SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
Joystick stick;
private Drivetrain drivetrain;
public DefaultDrive(Drivetrain drivetrain)
{
this.stick = new Joystick(0);
this.drivetrain = drivetrain;
addRequirements(this.drivetrain);
SmartDashboard.putString("Requirements", getRequirements().toString());
SmartDashboard.updateValues();
}
@Override
public void execute()
{
drivetrain.arcadeDrive(-stick.getY(), stick.getX());
}
@Override
public boolean isFinished()
{
return false;
}
}
