From 61011cf0928c215e664ed6fc11f40a1b6fca4141 Mon Sep 17 00:00:00 2001
From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com>
Date: Thu, 24 Mar 2022 19:12:44 -0600
Subject: [PATCH 1/2] funk

---
 src/main/java/frc4388/robot/RobotContainer.java     | 2 +-
 src/main/java/frc4388/robot/subsystems/Climber.java | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 62fb678..f50ba97 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -225,7 +225,7 @@ public class RobotContainer {
                                                0,
                                                0,
                                                0,
-                                               true);
+                                               false);
          }}
           , m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
 
diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java
index cf6c633..ba1e7e4 100644
--- a/src/main/java/frc4388/robot/subsystems/Climber.java
+++ b/src/main/java/frc4388/robot/subsystems/Climber.java
@@ -18,7 +18,7 @@ public class Climber extends SubsystemBase {
   /** Creates a new Climber */
   public Climber(WPI_TalonFX elbow) {
     this.elbow = elbow;
-    elbow.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
+    elbow.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
     elbow.overrideLimitSwitchesEnable(true); //Check
     
     elbow.configReverseSoftLimitThreshold(ClimberConstants.ELBOW_FORWARD_SOFT_LIMIT); // Tune
@@ -40,6 +40,6 @@ public class Climber extends SubsystemBase {
   @Override
   public void periodic() {
     SmartDashboard.putNumber("Elbow Angle", elbow.getSelectedSensorPosition());
-    SmartDashboard.putBoolean("Climber Folded", (elbow.isRevLimitSwitchClosed() == 1));
+    SmartDashboard.putBoolean("Climber Folded", (elbow.isFwdLimitSwitchClosed() == 1));
   }
 }
\ No newline at end of file

From 7a22cc4a902e9850db81cdba6a0b98e7c2483b1f Mon Sep 17 00:00:00 2001
From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com>
Date: Thu, 24 Mar 2022 19:17:32 -0600
Subject: [PATCH 2/2] comment

---
 src/main/java/frc4388/robot/Robot.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 7ab8717..f9cdd12 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -147,9 +147,9 @@ public class Robot extends TimedRobot {
     Vector2D secondBallPosition = new Vector2D(-(40.44 * (Math.sqrt(2.00) / 2.00)) - ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (82.83 / 2.00), -(40.44 * (Math.sqrt(2.00) / 2.00)) + ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (219.25 / 2.00)); // * position of second ball, relative to hub.
     Vector2D firstToSecond = Vector2D.subtract(secondBallPosition, firstBallPosition);
 
-    System.out.println("First Ball (FEET): " + Vector2D.divide(firstBallPosition, 12).toString());
-    System.out.println("Second Ball (FEET): " + Vector2D.divide(secondBallPosition, 12).toString());
-    System.out.println("First To Second (FEET): " + Vector2D.divide(firstToSecond, 12).toString());
+    // System.out.println("First Ball (FEET): " + Vector2D.divide(firstBallPosition, 12).toString());
+    // System.out.println("Second Ball (FEET): " + Vector2D.divide(secondBallPosition, 12).toString());
+    // System.out.println("First To Second (FEET): " + Vector2D.divide(firstToSecond, 12).toString());
 
     // current = 
       // m_robotContainer.m_robotBoomBoom.getCurrent() +