add constants and sequentials for position 3

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / OI.java

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index f72a6043ba2394dd34921f5cb816f183d7eda6d5..aa58ffccde0c62a84520a6426eeaf1a3154be266 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -23,9 +23,6 @@ import edu.wpi.first.wpilibj.buttons.Button;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
 
 public class OI {
-  public static boolean isScalingMode = false;
-  public static boolean isCompactRobot = false;
-
   public static Joystick leftJoystick;
   public static Joystick rightJoystick;
 
@@ -128,13 +125,13 @@ public class OI {
       intakeBoulder.whenPressed(new IntakeBall());
       shootBoulder.whenPressed(new Shoot());
 
-    } else if (isScalingMode) {
+    } else {
       // toggleShooter becomes winch
       // compact robot button 1 and 2 retracts the lift
       // intake button stops the winch
       // shoot button extends the lift
       toggleShooter.whenPressed(new RunWinchContinuous(
-          Constants.Scaler.WINCH_IN_SPEED));
+          Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE));
       compactRobot_1.whenPressed(new RetractLift());
       compactRobot_2.whenPressed(new RetractLift());