X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fclimber%2FStopWinch.java;h=2bb575280e2a07100523795efd242104bc140a4c;hb=refs%2Fheads%2Fmaster;hp=a119c91a8d9967f47c63bc21dfe099d7d5da8243;hpb=ad877a7e56c5f471d2518c984a5e965c60b58a79;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/StopWinch.java b/src/org/usfirst/frc/team3501/robot/commands/climber/StopWinch.java
index a119c91..2bb5752 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/StopWinch.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/StopWinch.java
@@ -1,24 +1,21 @@
 package org.usfirst.frc.team3501.robot.commands.climber;
 
 import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Climber;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * This command stops the winch
- *
- * post-condition: the motor values are set to 0.
+ * Stops the winch
  *
  * @author shivanighanta
  *
  */
 public class StopWinch extends Command {
-  /**
-   * 
-   */
-  public StopWinch() {
-    requires(Robot.getClimber());
+  Climber climber = Robot.getClimber();
 
+  public StopWinch() {
+    requires(climber);
   }
 
   @Override
@@ -36,8 +33,8 @@ public class StopWinch extends Command {
 
   @Override
   protected void end() {
-    Robot.getClimber().stop();
-
+    climber.stop();
+    climber.setCANTalonsBrakeMode(climber.BRAKE_MODE);
   }
 
   @Override