#include "WPILib.h"

/**
 * This sample shows how to use the new CANTalon to just run a motor in a basic
 *   throttle mode, in the same manner as you might control a traditional PWM
 *   controlled motor.
 *
 */
class Robot : public SampleRobot {
	CANTalon m_motor;

  Joystick m_stick;

	// update every 0.01 seconds/10 milliseconds.
  // The talon only receives control packets every 10ms.
	double kUpdatePeriod = 0.010;

public:
 Robot()
     : m_motor(1),   // Initialize the Talon as device 1. Use the roboRIO web
                    // interface to change the device number on the talons.
       m_stick(0)
 {}

	/**
	 * Runs the motor from the output of a Joystick.
	 */
	void OperatorControl() {
		while (IsOperatorControl() && IsEnabled()) {
      // Takes a number from -1.0 (full reverse) to +1.0 (full forwards).
			m_motor.Set(m_stick.GetY());

			Wait(kUpdatePeriod); // Wait a bit so that the loop doesn't lock everything up.
		}
	}
};

START_ROBOT_CLASS(Robot)