From ba29a57aaf0f4175ef20d4ee64ac7ad8c799327d Mon Sep 17 00:00:00 2001
From: Harel Dor <hareldor@gmail.com>
Date: Wed, 9 Mar 2016 18:21:21 -0800
Subject: [PATCH] bugfixes

---
 src/org/usfirst/frc/team3501/robot/Constants.java          | 7 ++++---
 src/org/usfirst/frc/team3501/robot/OI.java                 | 3 +++
 .../frc/team3501/robot/commands/intakearm/RunIntake.java   | 4 +++-
 .../usfirst/frc/team3501/robot/subsystems/DriveTrain.java  | 7 +++----
 4 files changed, 13 insertions(+), 8 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 0b376c71..3c27d488 100644
--- 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 07352f87..0acc3c80 100644
--- 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 42ed83fc..c69b3506 100644
--- 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 779bd9de..eeac4900 100644
--- 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);
   }
 
-- 
2.30.2