Issue with default command - "constructor is not defined"

[zebraengclubhs]

We cannot figure out the correct modifier to put in with the subsystem. Not sure how to “define” the constructor in this situation.

[brandonmcd]

Assuming you have already created a TankDrive.java command you need to add a constructor to it. Here is an example of that. I don’t know how you are calling the drive command so you may need to change the code to fit with your project.

public class TankDrive extends Command {
    private final DriveTrain m_driveTrain;
    private final Joystick m_joystick;

   //this is the constructor
    public TankDrive(DriveTrain driveTrain, Joystick joystick) {
        m_driveTrain = driveTrain;
        m_joystick = joystick;
        addRequirements(m_driveTrain);
    }

    @Override
    public void execute() {
        m_drivetrain.tankDrive(m_Joystick.getY(), m_Joystick.getX(), m_drivetrain));
    }

    // Other methods like isFinished()
}

Alternatively, if the command is just calling the Drivetrain’s drive method you can use a run command like this.

m_drivetrain.setDefaultCommand(
        new RunCommand(
            () ->
                m_drivetrain.tankDrive(m_Joystick.getY(), m_Joystick.getX(), m_drivetrain));