From fd8ab18ebb39c7fc0dea4d9da7de57307b9b3532 Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Fri, 15 Feb 2019 16:47:35 -0700
Subject: [PATCH] Added ratchet systems

---
 .../java/org/usfirst/frc4388/robot/OI.java    |  4 ++
 .../frc4388/robot/commands/ratchetFlip.java   | 49 +++++++++++++++++++
 .../frc4388/robot/subsystems/Climber.java     |  4 +-
 3 files changed, 55 insertions(+), 2 deletions(-)
 create mode 100644 2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ratchetFlip.java

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 94f41df..fde8e7f 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
@@ -54,6 +54,10 @@ public class OI
 			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 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/ratchetFlip.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ratchetFlip.java
new file mode 100644
index 0000000..8b6dfb9
--- /dev/null
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ratchetFlip.java
@@ -0,0 +1,49 @@
+package org.usfirst.frc4388.robot.commands;
+
+import org.usfirst.frc4388.robot.Robot;
+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) {
+    requires(Robot.climber);
+    this.flip = flip;
+    this.speed = speed;
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // 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;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}
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 951abb3..bd37efd 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
@@ -100,8 +100,8 @@ public class Climber extends Subsystem{
 		this.safetySwitch = safetySwitch;
 	}
 
-	public void flipRatchet(){
-		///TODO: Code to flip out the front arms of the climber WIP
+	public void flipRatchet(boolean flip, double speed){
+		climberFront.set(FRONT_FREQ * speed);
 	}
 }
 /*