Drivetrain.java subsystem:

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.subsystems;

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.xrp.XRPMotor;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;

public class Drivetrain extends SubsystemBase {

  XRPMotor m_leftMotor = new XRPMotor(0);
  XRPMotor m_rightMotor = new XRPMotor(1);
  DifferentialDrive myDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);

  /** Creates a new Drivetrain. This is the constructor */
  public Drivetrain() {
    m_leftMotor.setInverted(true);
  }

  public void doArcadeDrive(double xSpeed, double zRotation){
    myDrive.arcadeDrive(xSpeed, zRotation);
  }

  @Override
  public void periodic() {
    // This method will be called once per scheduler run
  }
}

ArcadeDriveCommand(.java)

package frc.robot.commands;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Drivetrain;

/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class ArcadeDriveCommand extends Command {
  Drivetrain myDrivetrain;
  XboxController myController;

  /** Creates a new ArcadeDriveCommand. (This is the constructor) */
  public ArcadeDriveCommand(Drivetrain theDrivetrain, XboxController theController) {
    myDrivetrain = theDrivetrain;
    myController = theController;

    addRequirements(theDrivetrain);
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    myDrivetrain.doArcadeDrive(myController.getLeftY(), myController.getLeftX());
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {}

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return false;
  }
}

RobotContainer.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.PrintCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc.robot.commands.ArcadeDriveCommand;
import frc.robot.subsystems.Drivetrain;

/**
 * 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...

  XboxController myController = new XboxController(0);
  Drivetrain myDrivetrain = new 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. */
  private void configureButtonBindings() {
    // Declare the button object:
    JoystickButton button_A = new JoystickButton(myController, 1); 

    // Bind the button onTrue event to a print command:
    button_A.onTrue(new PrintCommand("Button A was just pressed!"));

    myDrivetrain.setDefaultCommand(new ArcadeDriveCommand(myDrivetrain, myController));
  }

  /**
   * 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 Commands.print("No auto yet!");
  }
}

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Published @ June 15, 2026 7:07 pm