Tank Drive

package org.usfirst.frc.team4949.robot;


import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.vision.USBCamera;

/**
 * This is a demo program showing the use of the RobotDrive class, specifically it 
 * contains the code necessary to operate a robot with tank drive.
 *
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the SampleRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 *
 * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
 * don't. Unless you know what you are doing, complex code will be much more difficult under
 * this system. Use IterativeRobot or Command-Based instead if you're new.
 */
public class Robot extends SampleRobot {
    RobotDrive myRobot;  // class that handles basic drive operations
    Joystick leftStick;  // set to ID 1 in DriverStation
    Joystick rightStick; // set to ID 2 in DriverStation
        
    USBCamera camera;
    
    public Robot() {
        myRobot = new RobotDrive(0, 1, 2, 3);
        myRobot.setExpiration(0.1);
        leftStick = new Joystick(0);
        rightStick = new Joystick(1);
        
        camera = new USBCamera();
        
    }

    /**
     * Runs the motors with tank steering.
     */
    public void operatorControl() {
        myRobot.setSafetyEnabled(true);
        while (isOperatorControl() && isEnabled()) {
        	myRobot.tankDrive(leftStick, rightStick);
            Timer.delay(0.005);		// wait for a motor update time
        }
    }

}