/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */
package edu.wpi.first.wpilibj.templates.commands;

/**
 *
 * @author TJ2
 */
public class DriveWithControllerSimple extends CommandBase {
    
    double left;
    double right; 
    
    public DriveWithControllerSimple() {
        
        
        super("DriveWithControllerSimple");
        requires(drive);
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
         left = oi.getDriveLeftVerticalAxis();
            right = oi.getDriveRightVerticalAxis();
    
            drive.driveTankOpenLoop(left, right);
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return false;
    }

    // Called once after isFinished returns true
    protected void end() {
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    }
}

@@ -1,108 +1,4 @@
-/*%0D%0A * To change this template, choose Tools %7C Templates%0D%0A * and open the template in the editor.%0D%0A */%0D%0A
 pack
@@ -138,20 +138,16 @@
 Base %7B%0D%0A
-    
 %0D%0A    do
@@ -175,23 +175,18 @@
 e right;
- 
 %0D%0A
-    
 %0D%0A    pu
@@ -225,28 +225,8 @@
  %7B%0D%0A
-        %0D%0A        %0D%0A
     
@@ -300,280 +300,55 @@
     
-    // Use requires() here to declare subsystem dependencies%0D%0A        // eg. requires(chassis);%0D%0A    %7D%0D%0A%0D%0A    // Called just before this Command runs the first time%0D%0A    protected void initialize() %7B%0D%0A    %7D%0D%0A%0D%0A    // Called repeatedly when this Command is scheduled to run
+%7D%0D%0A%0D%0A    protected void initialize() %7B%0D%0A    %7D%0D%0A
 %0D%0A  
@@ -373,25 +373,24 @@
 xecute() %7B%0D%0A
- 
         left
@@ -432,20 +432,16 @@
         
- 
-   
 right = 
@@ -477,18 +477,10 @@
 );%0D%0A
-    %0D%0A    
+%0D%0A
     
@@ -539,354 +539,109 @@
     
-// Make this return true when this Command no longer needs to run execute()%0D%0A    protected boolean isFinished() %7B%0D%0A        return false;%0D%0A    %7D%0D%0A%0D%0A    // Called once after isFinished returns true%0D%0A    protected void end() %7B%0D%0A    %7D%0D%0A%0D%0A    // Called when another command which requires one or more of the same%0D%0A    // subsystems is scheduled to run
+protected boolean isFinished() %7B%0D%0A        return false;%0D%0A    %7D%0D%0A%0D%0A    protected void end() %7B%0D%0A    %7D%0D%0A
 %0D%0A  

Clean DriveWithControllerSimple