Java

//Imports the other files needed by the program
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;

public class Robot extends IterativeRobot {

//Defines the variables as members of our Robot class
     RobotDrive myRobot;
     Joystick stick;
     Timer timer;

//Initializes the variables in the robotInit method, this method is called when the robot is initializing
     public void robotInit() {
          myRobot = new RobotDrive(0,1);
          stick = new Joystick(1);
          timer = new Timer();
     }
}

Java

public void autonomousInit() { //This method is called once each time the robot enters autonomous mode
     timer.reset(); // Resets the timer to 0
     timer.start(); // Start counting
}

public void autonomousPeriodic() { //This method is called each time the robot recieves a packet instructing the robot to be in autonomous enabled mode
     // Drive for 2 seconds
     if (timer.get() < 2.0) {
          myRobot.drive(-0.5, 0.0); // drive forwards half speed
     } else {
          myRobot.drive(0.0, 0.0); // stop robot
     }
}

Java

public void teleopInit() {//The teleopInit method is called once each time the robot enters teleop mode
}

public void teleopPeriodic() { //The teleopPeriodic method is entered each time the robot receives a packet instructing it to be in teleoperated enabled mode
     myRobot.arcadeDrive(stick); //This line drives the robot using the values of the joystick and the motor controllers selected above
}

Java

public void testPeriodic() {
     LiveWindow.run();
}