bugfixes

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 0b376c7181d4aef8ca55b632ade5ed708d72713f..3c27d4884bb6ad77b8342cc5605196b1e674559f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -37,9 +37,9 @@ public class Constants {
   }
 
   public static class DriveTrain {
-    public static final int TANK_DRIVE = 0;
-    public static final int ARCADE_DRIVE = 1;
-    public static final int DRIVE_TYPE = TANK_DRIVE;
+    public static final int TANK = 0;
+    public static final int ARCADE = 1;
+    public static final int DRIVE_TYPE = TANK;
 
     // Drivetrain Motor related ports
     public static final int DRIVE_FRONT_LEFT = 1;
@@ -99,6 +99,7 @@ public class Constants {
     public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
 
     public static final int IN = 1;
+    public static final int STOP = 0;
     public static final int OUT = -1;
 
     // for roller

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 07352f8787161fe5f47dcb614322a0e50cde57a0..0acc3c8067067d572ee34a525ce9fad7f4115fdc 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -66,14 +66,17 @@ public class OI {
     intake = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_INTAKE_PORT);
     intake.whenPressed(new RunIntake(Constants.IntakeArm.IN));
+    intake.whenReleased(new RunIntake(Constants.IntakeArm.STOP));
 
     outtake1 = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_OUTTAKE_1_PORT);
     outtake1.whenPressed(new RunIntake(Constants.IntakeArm.OUT));
+    outtake1.whenReleased(new RunIntake(Constants.IntakeArm.STOP));
 
     outtake2 = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_OUTTAKE_2_PORT);
     outtake2.whenPressed(new RunIntake(Constants.IntakeArm.OUT));
+    outtake2.whenReleased(new RunIntake(Constants.IntakeArm.STOP));
 
     shooterUp = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_SHOOTER_UP_PORT);

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java b/src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java
index 42ed83fc3f38b5a0c0970f52aa1103fe6c0af63a..c69b350631e777c30fa65a792f8d1a2928092f18 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java
@@ -17,8 +17,10 @@ public class RunIntake extends Command {
   protected void initialize() {
     if (direction == Constants.IntakeArm.IN)
       Robot.intakeArm.intakeBall();
-    else
+    else if (direction == Constants.IntakeArm.OUT)
       Robot.intakeArm.outputBall();
+    else
+      Robot.intakeArm.stopRollers();
   }
 
   @Override

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 779bd9dec0ad0e0c98ad0fe440d6ffc181babe78..eeac4900e1b9a5f44b8ca2e1951012c9b3b55376 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,7 +1,6 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 
 import edu.wpi.first.wpilibj.CANTalon;
@@ -195,15 +194,15 @@ public class DriveTrain extends PIDSubsystem {
   public void joystickDrive(double left, double right) {
     int type = Constants.DriveTrain.DRIVE_TYPE;
     double k = (isFlipped() ? -1 : 1);
-    if (type == Constants.DriveTrain.TANK_DRIVE) {
+    if (type == Constants.DriveTrain.TANK) {
       robotDrive.tankDrive(-left * k, -right * k);
-    } else if (type == Constants.DriveTrain.ARCADE_DRIVE) {
+    } else if (type == Constants.DriveTrain.ARCADE) {
       robotDrive.arcadeDrive(left * k, right);
     }
   }
 
   public void setMotorSpeeds(double left, double right) {
-    double k = (Robot.driveTrain.isFlipped() ? -1 : 1);
+    double k = (isFlipped() ? -1 : 1);
     robotDrive.tankDrive(-left * k, -right * k);
   }