From 08473d42e1c28e1b9aaa5f52522fddc982bdad3a Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Sat, 21 Mar 2015 08:16:39 -0400
Subject: [PATCH] Merge branch 'develop'

---
 Commands/Collector/RollIn.cpp  |  2 +-
 Commands/Collector/RollOut.cpp |  4 ++--
 Commands/Drivetrain/Drive.cpp  |  2 +-
 OI.cpp                         | 18 ++++++++++++++----
 4 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/Commands/Collector/RollIn.cpp b/Commands/Collector/RollIn.cpp
index 816aa81..2841a87 100644
--- a/Commands/Collector/RollIn.cpp
+++ b/Commands/Collector/RollIn.cpp
@@ -13,7 +13,7 @@ void RollIn::Execute(){
   //}else{
   //  DentRobot::collector->MoveRollers(cvt*1.5);
   //}
-  DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 1.0);
+  DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftAxis("left", "throttle") * 1.0);
 }
 bool RollIn::IsFinished(){
   return IsTimedOut();
diff --git a/Commands/Collector/RollOut.cpp b/Commands/Collector/RollOut.cpp
index 09864dd..51338a5 100644
--- a/Commands/Collector/RollOut.cpp
+++ b/Commands/Collector/RollOut.cpp
@@ -7,8 +7,8 @@ void RollOut::Initialize(){
 }
 void RollOut::Execute(){
   // Divide by 2 twice because this speed should be half the collector speed
-  DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8);
-  SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftThrottle());
+  DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftAxis("right", "trigger") * 0.8);
+  SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftAxis("right", "trigger"));
 }
 bool RollOut::IsFinished(){
   return IsTimedOut();
diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp
index 1dbd74d..8adf0c0 100644
--- a/Commands/Drivetrain/Drive.cpp
+++ b/Commands/Drivetrain/Drive.cpp
@@ -18,7 +18,7 @@ void Drive::Execute(){
   //  y=0;
   //}
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
-  if(DentRobot::oi->GetLeftStick()->GetRawButton(11)){
+  if(DentRobot::oi->GetLeftButton("y")){
     x = -x;
     y = -y;
   }
diff --git a/OI.cpp b/OI.cpp
index 77162eb..37a6b5a 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -27,24 +27,34 @@ OI::OI(){
   // Left, right stick press 
   leftLPress = new JoystickButton(leftController, 9);
   leftRPress = new JoystickButton(leftController, 10);
+
+  // Commands
+  Raise *raise = new Raise(2.0);
+  Lower *lower = new Lower(2.0);
+  leftA->WhileHeld(raise);
+  leftA->CancelWhenPressed(lower);
+  leftB->WhenPressed(lower);
+  leftB->CancelWhenPressed(raise);
 }
 float OI::GetLeftAxis(std::string stick, std::string axis){
   if(stick=="left"){
     if(axis=="x"){
-      return leftController->GetX();
+      return leftController->GetRawAxis(0);
     }else if(axis=="y"){
-      return -leftController->GetY();
+      return -leftController->GetRawAxis(1);
     }else if(axis=="trigger"){
       //TODO: Figure out what axis this is
+      return leftController->GetRawAxis(4);
       return -4;
     }
   }else if(stick=="right"){
     if(axis=="x"){
-      return leftController->GetTwist();
+      return leftController->GetRawAxis(2);
     }else if(axis=="y"){
-      return -leftController->GetRawAxis(4);
+      return -leftController->GetRawAxis(3);
     }else if(axis=="trigger"){
       //TODO: Figure out what axis this is
+      return leftController->GetRawAxis(5);
       return -4;
     }
   }