Improve Climber Code

src/main/java/frc4388/robot/commands/climber/DisengageRachet.java

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.climber;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Climber;
+
+public class DisengageRachet extends CommandBase {
+  Climber m_climber;
+  
+  /**
+   * Creates a new DisengageRachet command.
+   */
+  public DisengageRachet(Climber subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_climber = subsystem;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if (m_climber.climberSafety) {
+      m_climber.shiftServo(false);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+}

src/main/java/frc4388/robot/commands/climber/RunClimberWithTriggers.java

@@ -40,12 +40,15 @@ public class RunClimberWithTriggers extends CommandBase {
     if (rightTrigger < .5) {
       if(rightTrigger > leftTrigger) {
         output = rightTrigger;
+        m_climber.shiftServo(false);
       }
       if (leftTrigger > rightTrigger) {
         output = -leftTrigger;
+        m_climber.shiftServo(true);
       }
     } else {
       output = rightTrigger;
+      m_climber.shiftServo(false);
     }
     m_climber.runClimber(output);
   }

src/main/java/frc4388/robot/commands/climber/RunLevelerWithJoystick.java

@@ -36,7 +36,7 @@ public class RunLevelerWithJoystick extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double input = m_controller.getLeftXAxis();
+    double input = m_controller.getRightXAxis();
     m_leveler.runLeveler(input);
   }