From 3a77b38ff989b0bb24762c4e5c3aced6cb949c45 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Wed, 15 Apr 2015 10:35:44 -0400
Subject: [PATCH] Added second bin elevator motor

---
 RobotMap.h                 | 3 ++-
 Subsystems/BinElevator.cpp | 6 ++++--
 Subsystems/BinElevator.h   | 3 ++-
 3 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/RobotMap.h b/RobotMap.h
index f6b34f8..32b0433 100644
--- a/RobotMap.h
+++ b/RobotMap.h
@@ -14,7 +14,8 @@
 #define ELEVATOR_ENCODERB 9
 
 // BinElevator
-#define BINELEVATOR_CAN 10
+#define BINELEVATOR_LEFT_CAN 13
+#define BINELEVATOR_RIGHT_CAN 14
 #define BINELEVATOR_BOTTOM_DIO 6
 #define BINELEVATOR_COLELCT_BIN_DIO 7
 #define BINELEVATOR_TOP_DIO 12
diff --git a/Subsystems/BinElevator.cpp b/Subsystems/BinElevator.cpp
index e2ac69f..11dcf67 100644
--- a/Subsystems/BinElevator.cpp
+++ b/Subsystems/BinElevator.cpp
@@ -1,7 +1,8 @@
 #include "BinElevator.h"
 #include "../RobotMap.h"
 BinElevator::BinElevator(){
-  motor = new CANTalon(BINELEVATOR_CAN);
+  leftMotor = new CANTalon(BINELEVATOR_LEFT_CAN);
+  rightMotor = new CANTalon(BINELEVATOR_RIGHT_CAN);
   elevatorEncoder = new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false);
   elevatorBottom = new DigitalInput(BINELEVATOR_BOTTOM_DIO);
   elevatorTop = new DigitalInput(BINELEVATOR_TOP_DIO);
@@ -9,7 +10,8 @@ BinElevator::BinElevator(){
 void BinElevator::InitDefaultCommand(){
 }
 void BinElevator::Run(double power){
-  motor->Set(power);
+  leftMotor->Set(power);
+  rightMotor->Set(-power);
 }
 void BinElevator::ResetEncoder(){
   elevatorEncoder->Reset();
diff --git a/Subsystems/BinElevator.h b/Subsystems/BinElevator.h
index 7eacc84..ba0752b 100644
--- a/Subsystems/BinElevator.h
+++ b/Subsystems/BinElevator.h
@@ -8,7 +8,8 @@
  */
 class BinElevator{
   private:
-    CANTalon *motor; //<! The bin elevator motor
+    CANTalon *leftMotor,//<! The left bin elevator motor
+             *rightMotor; //<! The right bin elevator motor
     Encoder *elevatorEncoder; //<! The bin elevator encoder (unused)
     DigitalInput *elevatorBottom, //<! The bottom bin elevator sensor (unused)
                  *elevatorTop; //<! The top bin elevator sensor (unused)