From: Harel Dor <hareldor@gmail.com>
Date: Tue, 15 Mar 2016 20:10:59 +0000 (-0700)
Subject: Switch left and right side of robot, remove capability to switch front temporarily
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=949415d065993cac3fd0c271eb3ba5d6b5ec90af

Switch left and right side of robot, remove capability to switch front temporarily
---

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index ebef7502..a6543a8f 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -45,10 +45,10 @@ public class Constants {
     public static final double kADJUST = 8;
 
     // Drivetrain Motor related ports
-    public static final int DRIVE_FRONT_LEFT = 6;
-    public static final int DRIVE_REAR_LEFT = 5;
-    public static final int DRIVE_FRONT_RIGHT = 1;
-    public static final int DRIVE_REAR_RIGHT = 2;
+    public static final int DRIVE_FRONT_LEFT = 1;
+    public static final int DRIVE_REAR_LEFT = 2;
+    public static final int DRIVE_FRONT_RIGHT = 6;
+    public static final int DRIVE_REAR_RIGHT = 5;
 
     // Drivetrain shifter related ports
     public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 2f97c9ad..6bf02a4c 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -69,8 +69,7 @@ public class Robot extends IterativeRobot {
     chooser.addObject("Sally Port", Defense.SALLY_PORT);
     chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " "
         + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
-    chooser.addObject("Low Bar" + Auton.LOW_BAR_SPEED + " "
-        + Auton.LOW_BAR_TIME, Defense.LOW_BAR);
+    chooser.addObject("Low Bar" + " Will probably work...", Defense.LOW_BAR);
     chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
     chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
index 272085af..83d934f3 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
@@ -1,7 +1,8 @@
 package org.usfirst.frc.team3501.robot.commands.auton;
 
-import org.usfirst.frc.team3501.robot.Constants.Auton;
+import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
 import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
+import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
@@ -11,6 +12,8 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 public class PassLowBar extends CommandGroup {
 
   public PassLowBar() {
-    addSequential(new TimeDrive(Auton.LOW_BAR_SPEED, Auton.LOW_BAR_TIME));
+    addSequential(new TimeDrive(.3, 1));
+    addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
+    addSequential(new TimeDrive(.5, 3));
   }
 }
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 0f52e115..1a4e6e5b 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -222,7 +222,7 @@ public class DriveTrain extends PIDSubsystem {
 
   public void setMotorSpeeds(double left, double right) {
     double k = (isFlipped() ? -1 : 1);
-    robotDrive.tankDrive(-left * k, -right * k);
+    robotDrive.tankDrive(-left, -right);
   }
 
   /**