From 05d755f87bede64a1b7997df389ac7b5caf53db5 Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Sat, 28 Feb 2015 07:22:43 +0000
Subject: [PATCH] added half speed and increased collector speed

---
 Commands/Collector/RollIn.cpp | 2 +-
 DentRobot.cpp                 | 2 ++
 Subsystems/Drivetrain.cpp     | 3 +++
 3 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/Commands/Collector/RollIn.cpp b/Commands/Collector/RollIn.cpp
index 1388c69..4d3e7c3 100644
--- a/Commands/Collector/RollIn.cpp
+++ b/Commands/Collector/RollIn.cpp
@@ -11,7 +11,7 @@ void RollIn::Execute(){
   if(cvt>=1.0){
     DentRobot::collector->MoveRollers(1.0);
   }else{
-    DentRobot::collector->MoveRollers(cvt);
+    DentRobot::collector->MoveRollers(cvt*1.5);
   }
 }
 bool RollIn::IsFinished(){
diff --git a/DentRobot.cpp b/DentRobot.cpp
index e7d15bc..7f2174a 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -42,6 +42,8 @@ void DentRobot::RobotInit(){
   SmartDashboard::PutBoolean("Bin Elevator Top", false);
   SmartDashboard::PutBoolean("Elevator Bottom", false);
   SmartDashboard::PutBoolean("Elevator Top", false);
+  //Drive speed
+  SmartDashboard::PutNumber("DriveSpeedReductionThresh",2);
 }
 void DentRobot::DisabledPeriodic(){
   Scheduler::GetInstance()->Run();
diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp
index 0e4970f..c8528ee 100644
--- a/Subsystems/Drivetrain.cpp
+++ b/Subsystems/Drivetrain.cpp
@@ -15,6 +15,9 @@ void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, floa
   double correctY = (sensitivity*(pow(y,3))+(1-sensitivity)*y);
   double correctX = -(sensitivity*(pow(x,3))+(1-sensitivity)*x);
   double correctZ = -z *.5;
+  if (DentRobot::oi->GetRightStick()->GetRawButton(9)){
+    correctY /= SmartDashboard::GetNumber("DriveSpeedReductionThresh");
+  }
   rightFront->Set((-correctX + correctY - correctZ));
   leftFront->Set((correctX + correctY + correctZ)*-1);
   rightRear->Set((correctX + correctY - correctZ));