From 7667182b012dd0b87299ae6d142c50370528536e Mon Sep 17 00:00:00 2001
From: Aarav Shah <91212@psdschools.org>
Date: Thu, 20 Feb 2020 17:00:50 -0700
Subject: [PATCH] Changes to isExtended boolean

Refactored name according to boolean convention and combined two different booleans doing the same thing.
---
 .../java/frc4388/robot/commands/RunExtenderOutIn.java  | 10 +++++-----
 src/main/java/frc4388/robot/subsystems/Intake.java     | 10 +++++-----
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc4388/robot/commands/RunExtenderOutIn.java b/src/main/java/frc4388/robot/commands/RunExtenderOutIn.java
index 6cfd9c4..3c062a0 100644
--- a/src/main/java/frc4388/robot/commands/RunExtenderOutIn.java
+++ b/src/main/java/frc4388/robot/commands/RunExtenderOutIn.java
@@ -19,7 +19,7 @@ import frc4388.utility.controller.IHandController;
 
 public class RunExtenderOutIn extends CommandBase {
   private Intake m_intake;
-  private boolean isOut = false;
+
   CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
   CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
   CANDigitalInput m_extenderForwardLimit;
@@ -46,13 +46,13 @@ public class RunExtenderOutIn extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    isOut = !isOut;
+    m_intake.isExtended = !m_intake.isExtended;
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (isOut){
+    if (m_intake.isExtended){
       m_intake.runExtender(0.3);
     } else {
       m_intake.runExtender(-0.3);
@@ -69,11 +69,11 @@ public class RunExtenderOutIn extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (isOut && m_extenderForwardLimit.get() == true){
+    if (m_intake.isExtended && m_extenderForwardLimit.get() == true){
       return true;
     }
     
-    else if(isOut && m_extenderReverseLimit.get() == true){
+    else if(m_intake.isExtended && m_extenderReverseLimit.get() == true){
       return true;
     }
     
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 63cb587..d6b9b32 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -24,7 +24,7 @@ public class Intake extends SubsystemBase {
   CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
   CANDigitalInput m_extenderForwardLimit;
   CANDigitalInput m_extenderReverseLimit;
-  boolean extended = false;
+  public boolean isExtended = false;
 
   /**
    * Creates a new Intake.
@@ -65,16 +65,16 @@ public class Intake extends SubsystemBase {
    */
   public void runExtender(final double input) {
     if (m_extenderForwardLimit.get()) {
-      extended = true;
+      isExtended = true;
     }
     if (m_extenderReverseLimit.get()) {
-      extended = false;
+      isExtended = false;
     }
     
-    if (extended == false) {
+    if (isExtended == false) {
       m_extenderMotor.set(0.5);
     }
-    if (extended == true) {
+    if (isExtended == true) {
       m_extenderMotor.set(-0.5);
     }
   }