/** Update normal driver control */
private void updateDriveControl() {
// Set speed to twist because the robot should turn in place w/ button 2
if (driverstation.JoystickDriverButton3) {
speed = driverstation.JoystickDriverTwist;
} else {
speed =
(driverstation.getStickDistance(
driverstation.JoystickDriverX, driverstation.JoystickDriverY));
}
// sets the drive speed so it will not drive below a minimum speed
if (Math.abs(speed) < MINUMUM_DRIVE_SPEED) {
speed = 0.0;
}
// Decide drive mode
if (driverstation.JoystickDriverButton3) {
if (driverstation.JoystickDriverTrigger) {
speed = speed / 2;
}
// Rotate in place if button 3 is pressed
drive.turnDrive(-speed);
} else {
// Normally use crab drive
drive.crabDrive(
driverstation.getStickAngle(driverstation.JoystickDriverX, driverstation.JoystickDriverY),
speed);
}
}
