From 6fa5c986a6f9cadf4ca085426671e895dbb1ba96 Mon Sep 17 00:00:00 2001
From: lukesta182 <33330639+lukesta182@users.noreply.github.com>
Date: Thu, 21 Mar 2019 15:11:32 -0600
Subject: [PATCH] fix arm on com bot, will not work on practice

inverted sensor phase
---
 .../java/org/usfirst/frc4388/robot/subsystems/Arm.java   | 9 +++++----
 .../java/org/usfirst/frc4388/robot/subsystems/Drive.java | 2 +-
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
index 99ec677..44027e0 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
@@ -146,10 +146,11 @@ public class Arm extends Subsystem implements ControlLoopable
 			motor1.configPeakOutputReverse(-1, TalonSRXEncoder.TIMEOUT_MS);
 
 			motor1.selectProfileSlot(MM_SLOT, 0);
-			//motor1.config_kF(MM_SLOT, F_Value, TalonSRXEncoder.TIMEOUT_MS);
+			motor1.config_kF(MM_SLOT, F_Value, TalonSRXEncoder.TIMEOUT_MS);
 			motor1.config_kP(MM_SLOT, P_Value, TalonSRXEncoder.TIMEOUT_MS);
 			motor1.config_kI(MM_SLOT, I_Value, TalonSRXEncoder.TIMEOUT_MS);
 			motor1.config_kD(MM_SLOT, D_Value, TalonSRXEncoder.TIMEOUT_MS);
+			motor1.setSensorPhase(true);
 
 			motor1.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
 			motor1.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
@@ -331,7 +332,7 @@ public class Arm extends Subsystem implements ControlLoopable
 		// Do the update
 		if (armControlMode == ArmControlMode.JOYSTICK_MANUAL) {
 			controlManualWithJoystick();
-			//System.err.println(motor1.getControlMode());
+			System.err.println(motor1.getControlMode());
 		}
 		else if (!isFinished) {
 			if (armControlMode == ArmControlMode.MOTION_PROFILE) {
@@ -340,11 +341,11 @@ public class Arm extends Subsystem implements ControlLoopable
 			}
 			if (armControlMode == ArmControlMode.JOYSTICK_PID){
 					controlPidWithJoystick();
-					//System.err.println(motor1.getControlMode());
+					System.err.println(motor1.getControlMode());
 			}
 			if (armControlMode == ArmControlMode.MOTION_MAGIC){
 				controlMMWithJoystick();
-				//System.err.println(motor1.getControlMode());
+				System.err.println(motor1.getControlMode());
 			}
 
 			/*else if (armControlMode == ArmControlMode.MP_PATH_VELOCITY) {
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
index f287c6f..166c217 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
@@ -266,7 +266,7 @@ public class Drive extends Subsystem implements ControlLoopable
 			//rightDrive1.setVoltageRampRate(VOLTAGE_RAMP_RATE);
 			//rightDrive1.setNominalClosedLoopVoltage(12.0);
 			rightDrive1.clearFaults();
-			rightDrive1.setInverted(false);//false on comp, false on practice
+			rightDrive1.setInverted(true);//false on comp, false on practice
 			//rightDrive1.setSensorPhase(true);//true on comp 2108, true on microbot
 			//rightDrive1.setSafetyEnabled(false);
 			rightDrive1.setIdleMode(IdleMode.kBrake);