Fix Climber Code Logic

2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java

@@ -63,8 +63,8 @@ public class OI
 
 			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));
+			climbUp.whenPressed(new InitiateClimber(speed));
+			climbUp.whenReleased(new InitiateClimber(0));
 			
 			JoystickButton ratchetFlip = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.Y_BUTTON);
 			ratchetFlip.whenPressed(new ratchetFlip(0.5));

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/InitiateClimber.java

@@ -7,30 +7,24 @@ import edu.wpi.first.wpilibj.command.Command;
 
 public class InitiateClimber extends Command
 {
-	static boolean CLIMB;
-	double speed;
+	static double SPEED;
 
-	public InitiateClimber(boolean climb, double speed) {
+	public InitiateClimber(double speed) {
 		requires(Robot.climber);
-		this.CLIMB = climb;
-		this.speed = speed;
+		this.SPEED = speed;
 	}
 
 	@Override
 	protected void initialize() {
-		
+		Robot.climber.setClimbSpeed(SPEED);
 	}
 
 	@Override
 	protected void execute() {
-		if(CLIMB){ //If climb button is pressed
-			Robot.climber.setClimbSpeed(CLIMB, speed);
-		}
-		else{
-			Robot.climber.setClimbSpeed(false, 0);
-		}
+		
 	}
-	   // Make this return true when this Command no longer needs to run execute()
+	
+	// Make this return true when this Command no longer needs to run execute()
     protected boolean isFinished() {
         return true;
     }

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ratchetFlip.java

@@ -15,7 +15,9 @@ public class ratchetFlip extends Command {
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    Robot.climber.flipRatchet(speed);
+    if (InitiateClimber.SPEED == 0){
+      Robot.climber.flipRatchet(speed);
+    }
   }
 
   // Called repeatedly when this Command is scheduled to run

2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java

@@ -83,11 +83,10 @@ public class Climber extends Subsystem{
     @Override
     public void periodic() {
         // Put code here to be run every loop
-
     }
     
-	public void setClimbSpeed(boolean Climb, double speed) {
-		if (Climb && safetySwitch) {
+	public void setClimbSpeed(double speed) {
+		if (safetySwitch) {
 			if(isPressed.isFwdLimitSwitchClosed()){ //If leg at max height
 				climberBack.set(0);
 				climberFront.set(FRONT_FREQ * speed);
@@ -97,7 +96,7 @@ public class Climber extends Subsystem{
 				climberFront.set(FRONT_FREQ * speed);
 			}		
 		}
-		if (!Climb || !safetySwitch) {
+		if (!safetySwitch) {
 			climberBack.set(0);
 			climberFront.set(0);
 		}