From 500faccd3dd1864e493e5c35796bbfaed5c25285 Mon Sep 17 00:00:00 2001
From: "Keenan D. Buckley" <hfocus77@gmail.com>
Date: Sat, 16 Feb 2019 16:26:06 -0700
Subject: [PATCH] Fix rachetFlip

---
 .../main/java/org/usfirst/frc4388/robot/OI.java  |  8 ++++----
 .../frc4388/robot/commands/InitiateClimber.java  |  8 ++++----
 .../frc4388/robot/commands/ratchetFlip.java      | 16 +++++-----------
 .../frc4388/robot/subsystems/Climber.java        |  4 ++--
 4 files changed, 15 insertions(+), 21 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 7973c8b..aaff4f1 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
@@ -61,14 +61,14 @@ public class OI
 			liftBallIntake.whenPressed(new LiftBallDropHatch());
 
 
-			JoystickButton climbUp = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
+			JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
 			double speed = m_driverXbox.getRightTriggerAxis();
 			climbUp.whenPressed(new InitiateClimber(true, speed));
 			climbUp.whenReleased(new InitiateClimber(false, speed));
 			
-			JoystickButton ratchetFlip = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
-			ratchetFlip.whenPressed(new ratchetFlip(true, speed));
-			ratchetFlip.whenReleased(new ratchetFlip(false, speed));
+			JoystickButton ratchetFlip = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.Y_BUTTON);
+			ratchetFlip.whenPressed(new ratchetFlip(0.5));
+			ratchetFlip.whenReleased(new ratchetFlip(0));
 	        
 	        JoystickButton shiftUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
 	        shiftUp.whenPressed(new DriveSpeedShift(true));
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/InitiateClimber.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/InitiateClimber.java
index 619fc50..42682ea 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/InitiateClimber.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/InitiateClimber.java
@@ -7,12 +7,12 @@ import edu.wpi.first.wpilibj.command.Command;
 
 public class InitiateClimber extends Command
 {
-	boolean climb;
+	static boolean CLIMB;
 	double speed;
 
 	public InitiateClimber(boolean climb, double speed) {
 		requires(Robot.climber);
-		this.climb = climb;
+		this.CLIMB = climb;
 		this.speed = speed;
 	}
 
@@ -23,8 +23,8 @@ public class InitiateClimber extends Command
 
 	@Override
 	protected void execute() {
-		if(climb){ //If climb button is pressed
-			Robot.climber.setClimbSpeed(climb, speed);
+		if(CLIMB){ //If climb button is pressed
+			Robot.climber.setClimbSpeed(CLIMB, speed);
 		}
 		else{
 			Robot.climber.setClimbSpeed(false, 0);
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ratchetFlip.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ratchetFlip.java
index 8b6dfb9..37e5f64 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ratchetFlip.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ratchetFlip.java
@@ -6,34 +6,28 @@ import org.usfirst.frc4388.robot.Constants;
 import edu.wpi.first.wpilibj.command.Command;
 
 public class ratchetFlip extends Command {
-  boolean flip;
-  double speed;
-  public ratchetFlip(boolean flip, double speed) {
+  private double speed;
+  public ratchetFlip(double speed) {
     requires(Robot.climber);
-    this.flip = flip;
     this.speed = speed;
   }
 
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
+    Robot.climber.flipRatchet(speed);
   }
 
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    if(flip){
-      Robot.climber.flipRatchet(true, speed);
-    }
-    else{
-      Robot.climber.flipRatchet(false, speed);
-    }
+      
   }
 
   // Make this return true when this Command no longer needs to run execute()
   @Override
   protected boolean isFinished() {
-    return false;
+    return true;
   }
 
   // Called once after isFinished returns true
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
index 2b1eda0..7adcb4c 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
@@ -107,7 +107,7 @@ public class Climber extends Subsystem{
 		this.safetySwitch = safetySwitch;
 	}
 
-	public void flipRatchet(boolean flip, double speed){
-		climberFront.set(FRONT_FREQ * speed);
+	public void flipRatchet(double speed){
+		climberFront.set(speed);
 	}
 }