Update to climber systems

Saftey should work now, all needs testing
WPI

2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java

@@ -49,8 +49,8 @@ public class OI
 	        CarriageEject.whenPressed(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
 	        CarriageEject.whenReleased(new IntakeSetSpeed(0.0));
 	        */
-	        JoystickButton climbUp = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
-			int speed = XboxController.RIGHT_TRIGGER_AXIS;
+	        JoystickButton climbUp = new XBoxTriggerButton(m_operatorXbox, XboxController.RIGHT_TRIGGER);
+			float speed = XboxController.RIGHT_TRIGGER_AXIS;
 			climbUp.whenPressed(new InitiateClimber(true, speed));
 			climbUp.whenReleased(new InitiateClimber(false, speed));
 	        
@@ -69,10 +69,14 @@ public class OI
 	        openIntake.whenPressed(new IntakePosition(true));
 	        
 	        JoystickButton CloseIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
-	        CloseIntake.whenPressed(new IntakePosition(false));
+			CloseIntake.whenPressed(new IntakePosition(false));
+			*/
+			JoystickButton safteySwitch = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.START_BUTTON);
+			safteySwitch.whenPressed(new startSaftey(true));
+			safteySwitch.whenReleased(new startSaftey(false));
 	     	
 	        SmartDashboard.putData("PRE GAME!!!!", new PreGame());
-	       */
+	       
 		  } catch (Exception e) {
 			  System.err.println("An error occurred in the OI constructor");
 		  }

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/InitiateClimber.java

@@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj.command.Command;
 public class InitiateClimber extends Command
 {
 	boolean climb;
+	boolean saftey;
 	float speed;
 
 	public InitiateClimber(boolean Climb, int speed) {
@@ -16,16 +17,25 @@ public class InitiateClimber extends Command
 		this.speed = speed;
 	}
 
+	public startSaftey(boolean saftey){
+		requires(Robot.climber);
+		this.saftey = saftey;
+	}
+
 	@Override
 	protected void initialize() {
 	}
 
 	@Override
 	protected void execute() {
-		Robot.climber.setClimbSpeed(climb, speed);
-    }
-
-    // Make this return true when this Command no longer needs to run execute()
+		if(climb && saftey){ //If climb and saftey button are pressed
+			Robot.climber.setClimbSpeed(climb, speed);
+		}
+		else{
+			Robot.climber.setClimbSpeed(false, 0);
+		}
+	}
+	   // Make this return true when this Command no longer needs to run execute()
     protected boolean isFinished() {
         return true;
     }

2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java

@@ -79,23 +79,26 @@ public class Climber extends Subsystem{
     }
     
 	public void setClimbSpeed(boolean Climb, float speed) {
-		if (Climb && safteySwitch) {
-			if(isPressed.isFwdLimitSwitchClosed()) //If back at max height
-			{
+		if (Climb) {
+			if(isPressed.isFwdLimitSwitchClosed()){ //If back at max height
 				climberBack.set(0);
 				climberFront.set(FRONT_FREQ * speed);
 			}
-			else if (isPressed.isFwdLimitSwitchClosed() == false) //If back not at max height
-			{
+			else if (isPressed.isFwdLimitSwitchClosed() == false){ //If back not at max height
 				climberBack.set(BACK_FREQ * speed);
 				climberFront.set(FRONT_FREQ * speed);
-			}
+			}		
 		}
 		if (Climb == false) {
 			climberBack.set(0);
 			climberFront.set(0);
 		}
 	}
+
+
+	public flipRatchet(){
+		//Code to flip out the front arms of the climber WIP
+	}
 }
 /*TODO
  * add command code for flipping front out (including button press)