From b32a060093dccdbeda98015f79a2b1492e0ec9fe Mon Sep 17 00:00:00 2001
From: "Keenan D. Buckley" <hfocus77@gmail.com>
Date: Sun, 17 Feb 2019 12:35:09 -0700
Subject: [PATCH] Climber Adjustments

---
 .../frc4388/robot/subsystems/Climber.java     | 20 ++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

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 0c47e6a..9eb50b6 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
@@ -46,7 +46,7 @@ public class Climber extends Subsystem{
 
 	//Frequency Control
 	static float BACK_FREQ = 1;
-	static float FRONT_FREQ;
+	static float FRONT_FREQ = 1;
 	static float FREQ_RATIO = 0.2443744576F;
 
 	//Limit and Saftey vars
@@ -69,6 +69,7 @@ public class Climber extends Subsystem{
 			climberBack.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
 			climberBack.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
 			climberBack.setNeutralMode(NeutralMode.Brake);
+			climberFront.setNeutralMode(NeutralMode.Brake);
 			FRONT_FREQ = BACK_FREQ * FREQ_RATIO; // Sets the front motor speed to ~1/4 the back motor speed
 		} 
 		catch (Exception e) {
@@ -99,22 +100,23 @@ public class Climber extends Subsystem{
 			else if(isPressed.isFwdLimitSwitchClosed() && speed > 0){ //If leg at max height, and the input would extend the leg
 				climberBack.set(0);
 				climberFront.set(FRONT_FREQ * speed);
-			}
-			else { //If leg not at max height */
-				climberBack.set(BACK_FREQ * speed);
-				climberFront.set(FRONT_FREQ * speed);
-			//}		
+			} */
+			if (speed < 0){
+				climberBack.set(-0.3 * speed);
+			} 
+			else { //If leg not at max height
+				climberBack.set(-0.5 * speed);
+				climberFront.set(speed);
+			}		
 		}
 		else {
 			climberBack.set(0);
-			climberFront.set(0);
 		}
 	}
 	
 	///DEPRICATED
 	public void setClimbSpeed(double speed) {
 		if (safetySwitch) {
-			/*
 			if (isPressed.isRevLimitSwitchClosed() && speed < 0){ //If leg at min height, and the input would retract the leg
 				climberBack.set(0);
 				climberFront.set(0);
@@ -126,7 +128,7 @@ public class Climber extends Subsystem{
 			else { //If leg not at max height */
 				climberBack.set(BACK_FREQ * speed);
 				climberFront.set(FRONT_FREQ * speed);
-			//}		
+			}		
 		}
 	}