From 3b63c6ff1e99a9e364865cb3c66bd3e3e5d9d04c Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Sat, 7 Feb 2015 12:23:10 +0000
Subject: [PATCH] Added two second timeout to the elevator

---
 Commands/Elevator/Lower.cpp | 8 +++++++-
 Commands/Elevator/Raise.cpp | 9 +++++++--
 DentRobot.cpp               | 1 +
 Subsystems/DIO.cpp          | 2 --
 4 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp
index d853678..8d75a74 100644
--- a/Commands/Elevator/Lower.cpp
+++ b/Commands/Elevator/Lower.cpp
@@ -1,14 +1,20 @@
 #include "Lower.h"
 #include "../../DentRobot.h"
+#include "../../OI.h"
 Lower::Lower() : Command("Lower"){
 }
 void Lower::Initialize(){
+    SetTimeout(2.0);
 }
 void Lower::Execute(){
   DentRobot::elevator->Run((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool Lower::IsFinished(){
-  return !DentRobot::dio->Get(DentRobot::dio->ELEVATORBOTTOM);
+  if (!DentRobot::dio->Get(DentRobot::dio->ELEVATORBOTTOM) || IsTimedOut()){
+      return true;
+  }else{
+      return false;
+  }
 }
 void Lower::End(){
   DentRobot::elevator->Run(0.0f);
diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp
index 8d556c5..35372ea 100644
--- a/Commands/Elevator/Raise.cpp
+++ b/Commands/Elevator/Raise.cpp
@@ -1,15 +1,20 @@
 #include "Raise.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-Raise::Raise(){
+Raise::Raise() : Command("Raise"){
 }
 void Raise::Initialize(){
+    SetTimeout(2.0);
 }
 void Raise::Execute(){
   DentRobot::elevator->Run(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool Raise::IsFinished(){
- return !DentRobot::dio->Get(DentRobot::dio->ELEVATORTOP);
+  if (!DentRobot::dio->Get(DentRobot::dio->ELEVATORBOTTOM) || IsTimedOut()){
+      return true;
+  }else{
+      return false;
+  }
 }
 void Raise::End(){
   DentRobot::elevator->Run(0.0f);
diff --git a/DentRobot.cpp b/DentRobot.cpp
index 0d9e4ab..819efba 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -15,6 +15,7 @@ DentRobot::DentRobot(){
   printf("Initialized");
 }
 void DentRobot::RobotInit(){
+    SmartDashboard::PutNumber("CodeVersion",0.001);
 }
 void DentRobot::DisabledPeriodic(){
   Scheduler::GetInstance()->Run();
diff --git a/Subsystems/DIO.cpp b/Subsystems/DIO.cpp
index b845c3a..470bf3a 100644
--- a/Subsystems/DIO.cpp
+++ b/Subsystems/DIO.cpp
@@ -9,11 +9,9 @@ void DIO::InitDefaultCommand(){
 bool DIO::Get(e_dioSig dioSig){
   switch (dioSig){
     case ELEVATORTOP:
-        printf("Hit top limit switch\n");
         return elevatorTop->Get();
         break;
     case ELEVATORBOTTOM:
-        printf("Hit top bottom switch\n");
         return elevatorBottom->Get();
         break;
     default: