got joystick to work

src/main/java/com/spartronics4915/frc/RobotContainer.java

@@ -2,7 +2,7 @@
 
 import com.spartronics4915.frc.Constants;
 import com.spartronics4915.frc.commands.ExampleCommand;
-import com.spartronics4915.frc.commands.JoystickMotorCommands;
+import com.spartronics4915.frc.commands.JoystickMotorCommand;
 import com.spartronics4915.frc.subsystems.ExampleSubsystem;
 import com.spartronics4915.frc.subsystems.JoystickMotor;
 import com.spartronics4915.lib.subsystems.SpartronicsSubsystem;
@@ -34,7 +34,7 @@ public class RobotContainer
     public final JoystickMotor mJoystickMotor;
 
     // public final ExampleCommand mAutoCommand;
-    public final JoystickMotorCommands mJoystickMotorCommands;
+    public final JoystickMotorCommand mJoystickMotorCommands;
 
     // private final int kJoystickPort = Constants.OI.kJoystickId;
     public static final Joystick mDriverController = new Joystick(Constants.OI.kJoystickId);
@@ -49,12 +49,12 @@ public RobotContainer()
         // mAutoCommand = new ExampleCommand(mExampleSubsystem);
 
         mJoystickMotor = JoystickMotor.getInstance();
-        mJoystickMotorCommands = new JoystickMotorCommands(mJoystickMotor);
+        mJoystickMotorCommands = new JoystickMotorCommand(mJoystickMotor);
 
         configureButtonBindings();
         SmartDashboard.putString("Container","Completed");
 
-        mJoystickMotor.setDefaultCommand(new JoystickMotorCommands(mJoystickMotor));
+        mJoystickMotor.setDefaultCommand(new JoystickMotorCommand(mJoystickMotor));
     }
 
     /** Use this method to define your button ==> command mappings. */

src/main/java/com/spartronics4915/frc/commands/JoystickMotorCommand.java

@@ -0,0 +1,54 @@
+package com.spartronics4915.frc.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj.Joystick;
+
+import com.spartronics4915.frc.Constants;
+import com.spartronics4915.frc.subsystems.JoystickMotor;
+
+public class JoystickMotorCommand extends CommandBase
+{
+    private final JoystickMotor mJoystickMotor;
+    private final Joystick mJoystick;
+    private boolean mInverted;
+    private boolean mSlow;
+
+    public JoystickMotorCommand(JoystickMotor motor)
+    {
+        mJoystickMotor = motor;
+        mJoystick = motor.getJoystick();
+        mInverted = false;
+        mSlow = false;
+        addRequirements(mJoystickMotor);
+    }
+
+    @Override
+    public void execute()
+    {
+        double y = -1 * mJoystick.getY();
+
+        if (mSlow)
+        {
+            y *= Constants.JoystickMotorConstants.kMotorSlowSpeed;
+        }
+
+        if (mInverted)
+        {
+            y *= -1;
+        }
+
+        // copied from 2020-InfiniteRecharge, no idea how it works (magic)
+        y = Math.copySign(Math.pow(Math.abs(y), 5.0/3.0), y); // apply response curve
+        mJoystickMotor.set(applyDeadzone(y, Constants.JoystickMotorConstants.kJoystickDeadzone));
+    }
+
+    // also copied from ir2020
+    private double applyDeadzone(double val, double deadzone)
+    {
+        if (Math.abs(val) < deadzone)
+        {
+            return 0.0;
+        }
+        return val;
+    }
+}