From 2f8480b56ef5f11644087d89340996fe125ebe78 Mon Sep 17 00:00:00 2001
From: lukesta182 <33330639+lukesta182@users.noreply.github.com>
Date: Sun, 17 Feb 2019 16:21:58 -0700
Subject: [PATCH] added in robot init stuff

---
 2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java   | 2 +-
 .../src/main/java/org/usfirst/frc4388/robot/Robot.java      | 2 ++
 .../java/org/usfirst/frc4388/robot/subsystems/Wrist.java    | 6 +++---
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
index 4605dfd..14203a2 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
@@ -53,7 +53,7 @@ public class OI
 			Expand.whenPressed(new WristPlacement(true));
 			
 			JoystickButton Contract = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.A_BUTTON);
-	        Contract.whenPressed(new WristPlacement(true));
+	        Contract.whenPressed(new WristPlacement(false));
 			
 			
 			//JoystickButton endEfector = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.X_BUTTON);
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
index c2c6a02..a693693 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
@@ -30,6 +30,7 @@ public class Robot extends IterativeRobot
 	
 	public static final Drive drive = new Drive();
 	public static final Arm arm = new Arm();
+	public static final Wrist wrist = new Wrist();
 
 
  
@@ -59,6 +60,7 @@ public class Robot extends IterativeRobot
 		
 		controlLoop.addLoopable(drive);
 		controlLoop.addLoopable(arm);
+		controlLoop.addLoopable(wrist);
 			
 
         operationModeChooser = new SendableChooser<OperationMode>();
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
index bfb7817..250193f 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
@@ -102,7 +102,7 @@ public class Wrist extends Subsystem implements ControlLoopable
 	public Wrist() {
 		try {
 			wristmotor1 = TalonSRXFactory.createTalonEncoder(RobotMap.WRIST_MOTOR_ID, (ENCODER_TICKS_TO_INCHES), false, FeedbackDevice.QuadEncoder);
-			
+			System.err.println("the tallon shold be made in wrist");
 			
 			wristmotor1.setInverted(true);
 										
@@ -139,7 +139,7 @@ public class Wrist extends Subsystem implements ControlLoopable
 	}
 
 	public void setSpeed(double speed) {
-		wristmotor1.set(ControlMode.PercentOutput, speed*0.3);
+		wristmotor1.set(ControlMode.PercentOutput, speed);
 		setWristControlMode(WristControlMode.MANUAL);
 	}
 		
@@ -287,7 +287,7 @@ public class Wrist extends Subsystem implements ControlLoopable
 	
 	private void controlManualWithJoystick() {
 		double joyStickSpeed = -Robot.oi.getOperatorController().getRightYAxis();
-		setSpeedJoystick(joyStickSpeed*.10);
+		setSpeedJoystick(joyStickSpeed*.50);
 	}
 	/*
 	public void setShiftState(ElevatorSpeedShiftState state) {