RobotContainer.java

/*----------------------------------------------------------------------------*/
/* 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.ExampleCommand;
import frc.robot.subsystems.Drivesubsystem;
import frc.robot.subsystems.ExampleSubsystem;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RunCommand;

/**
 * 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 {
  private ExampleSubsystem m_exampleSubsystem;
  private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem);
public static Drivesubsystem DriveSub = new Drivesubsystem();
public static XboxController joy = new XboxController(0);

  /**
   * The container for the robot.  Contains subsystems, OI devices, and commands.
   */
  public RobotContainer() {
   DriveSub.setDefaultCommand(new RunCommand(() -> Drivesubsystem.TankDrive(joy.getRawAxis(1), joy.getRawAxis(5)), DriveSub));
    // 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 (Command) m_autoCommand;
  }
}