From 1bfa24f2e5164f72ac1a2bc0143f137c62fcf496 Mon Sep 17 00:00:00 2001
From: Cindy Zhang <cindyzyx9@gmail.com>
Date: Sun, 14 Feb 2016 17:23:05 -0800
Subject: [PATCH] replace winchIn and winchOut with runWinchContinuous and
 stopWinch

---
 src/org/usfirst/frc/team3501/robot/Constants.java |  1 +
 src/org/usfirst/frc/team3501/robot/OI.java        | 11 +++++++----
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 3cb9f96c..66a37d8f 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -81,6 +81,7 @@ public class Constants {
 
     // Winch speeds
     public final static double WINCH_STOP_SPEED = 0.0;
+    public final static double WINCH_IN_SPEED = 0;
     public final static double SECONDS_TO_CLAMP = 2.0;
   }
 
diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index cc217235..adb37e40 100644
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -7,6 +7,8 @@ import org.usfirst.frc.team3501.robot.commands.auton.PassSallyPort;
 import org.usfirst.frc.team3501.robot.commands.intakearm.IntakeBall;
 import org.usfirst.frc.team3501.robot.commands.scaler.ExtendLift;
 import org.usfirst.frc.team3501.robot.commands.scaler.RetractLift;
+import org.usfirst.frc.team3501.robot.commands.scaler.RunWinchContinuous;
+import org.usfirst.frc.team3501.robot.commands.scaler.StopWinch;
 import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
 import org.usfirst.frc.team3501.robot.commands.shooter.runShooter;
 
@@ -97,7 +99,7 @@ public class OI {
     passSallyPort.whenPressed(new PassSallyPort());
 
     lowerChevalDeFrise
-        .whenPressed(/* TO DO: define this, and fill in commands */);
+    .whenPressed(/* TO DO: define this, and fill in commands */);
 
     if (toggleScalingMode.get()) {
       if (!isScalingMode) {
@@ -120,15 +122,16 @@ public class OI {
       shootBoulder.whenPressed(new Shoot());
 
     } else if (isScalingMode) {
-      toggleShooter.toggleWhenPressed(new WinchIn());
+      toggleShooter.whenPressed(new RunWinchContinuous(
+          Constants.Scaler.WINCH_IN_SPEED));
       compactRobot_1.whenPressed(new RetractLift());
 
-      intakeBoulder.toggleWhenPressed(new WinchOut());
+      intakeBoulder.whenReleased(new StopWinch());
       shootBoulder.whenPressed(new ExtendLift());
     }
 
     SpinRobot180_1
-        .whenPressed(/* rotate robot 180, reorient joystick controls */);
+    .whenPressed(/* rotate robot 180, reorient joystick controls */);
 
   }
 }
-- 
2.30.2