From 82c8d7814ee517c6cc6820ae09cf6356cc01b4bb Mon Sep 17 00:00:00 2001
From: "Keenan D. Buckley" <hfocus77@gmail.com>
Date: Sat, 9 Mar 2019 11:29:51 -0700
Subject: [PATCH] Begin setting up dpad control

---
 .../org/usfirst/frc4388/controller/IHandController.java  | 2 ++
 .../java/org/usfirst/frc4388/robot/subsystems/Arm.java   | 9 +++++----
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/2019robot/src/main/java/org/usfirst/frc4388/controller/IHandController.java b/2019robot/src/main/java/org/usfirst/frc4388/controller/IHandController.java
index b32e726..539f06c 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/controller/IHandController.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/controller/IHandController.java
@@ -13,4 +13,6 @@ public interface IHandController {
 	public double getLeftTriggerAxis();
 
 	public double getRightTriggerAxis();
+
+	public int getDpadAngle();
 }
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 3c82ae8..b01740d 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
@@ -273,7 +273,6 @@ public class Arm extends Subsystem implements ControlLoopable
 		// Do the update
 		if (armControlMode == ArmControlMode.JOYSTICK_MANUAL) {
 			controlManualWithJoystick();
-			
 		}
 		else if (!isFinished) {
 			if (armControlMode == ArmControlMode.MOTION_PROFILE) {
@@ -282,9 +281,11 @@ public class Arm extends Subsystem implements ControlLoopable
 			}
 			if (armControlMode == ArmControlMode.JOYSTICK_PID){
 				//System.err.println(motor1.getControlMode());
-				controlPidWithJoystick();
-				
-	
+				if (Robot.oi.getOperatorController().getDpadAngle() == -1){
+					controlPidWithJoystick();
+				} else {
+					
+				}
 			}
 			
 			/*else if (armControlMode == ArmControlMode.MP_PATH_VELOCITY) {