From 4494b9131a11bc58854507a948227fc8661dc3b3 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Fri, 6 Feb 2015 20:38:02 -0500
Subject: [PATCH] Minor fixes (untested)

---
 Commands/Autonomous/AutoDrive.cpp    | 1 +
 Commands/Collector/CollectTote.cpp   | 1 +
 Commands/Collector/OpenCollector.cpp | 3 ++-
 Commands/Collector/ReleaseTote.cpp   | 4 +++-
 Subsystems/Collector.cpp             | 2 +-
 Subsystems/Collector.h               | 2 +-
 6 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp
index 01718f2..0eb43d6 100644
--- a/Commands/Autonomous/AutoDrive.cpp
+++ b/Commands/Autonomous/AutoDrive.cpp
@@ -1,6 +1,7 @@
 #include "AutoDrive.h"
 #include <cmath>
 #include "../../DentRobot.h"
+// Drive for a short while then stop. Just for testing
 AutoDrive::AutoDrive() : Command("AutoDrive"){
   Requires(DentRobot::drivetrain);
   SetTimeout(1.0);
diff --git a/Commands/Collector/CollectTote.cpp b/Commands/Collector/CollectTote.cpp
index 9780b39..e7fad0f 100644
--- a/Commands/Collector/CollectTote.cpp
+++ b/Commands/Collector/CollectTote.cpp
@@ -3,6 +3,7 @@ CollectTote::CollectTote() : Command("CollectTote"){
   Requires(DentRobot::collector);
 }
 void CollectTote::Initialize(){
+  SetTimeout(2.0);
 }
 void CollectTote::Execute(){
   //TODO check this value to move the motors in the right direction
diff --git a/Commands/Collector/OpenCollector.cpp b/Commands/Collector/OpenCollector.cpp
index 54928c5..6e41cd4 100644
--- a/Commands/Collector/OpenCollector.cpp
+++ b/Commands/Collector/OpenCollector.cpp
@@ -3,10 +3,11 @@ OpenCollector::OpenCollector() : Command("OpenCollector"){
   Requires(DentRobot::collector);
 }
 void OpenCollector::Initialize(){
+  SetTimeout(0.5);
 }
 void OpenCollector::Execute(){
   //TODO check this value to move the motors in the right direction
-  DentRobot::collector->MoveArms(-0.1);
+  DentRobot::collector->MoveArms(-0.1f);
 }
 bool OpenCollector::IsFinished(){
   return DentRobot::collector->ArmSensor();
diff --git a/Commands/Collector/ReleaseTote.cpp b/Commands/Collector/ReleaseTote.cpp
index 90ceaab..0ee9ce1 100644
--- a/Commands/Collector/ReleaseTote.cpp
+++ b/Commands/Collector/ReleaseTote.cpp
@@ -3,11 +3,13 @@ ReleaseTote::ReleaseTote() : Command("ReleaseTote"){
   Requires(DentRobot::collector);
 }
 void ReleaseTote::Initialize(){
+  SetTimeout(2.0);
 }
 void ReleaseTote::Execute(){
   //TODO check this value to move the motors in the right direction
   printf("releasing tote\n");
-  DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
+  // Devide by 2 twice because this speed should be half the collector speed
+  DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2/2);
 }
 bool ReleaseTote::IsFinished(){
   return DentRobot::collector->BoxCollected();
diff --git a/Subsystems/Collector.cpp b/Subsystems/Collector.cpp
index b05c76c..26dc2d7 100644
--- a/Subsystems/Collector.cpp
+++ b/Subsystems/Collector.cpp
@@ -10,7 +10,7 @@ Collector::Collector() : Subsystem("Collector") {
 }
 void Collector::InitDefaultCommand() {
 }
-void Collector::MoveArms(float a){
+void Collector::MoveArms(double a){
   windowMotorLeft->Set(a);
   windowMotorRight->Set(-a);
 }
diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h
index ef5acf3..931744f 100644
--- a/Subsystems/Collector.h
+++ b/Subsystems/Collector.h
@@ -10,7 +10,7 @@ class Collector: public Subsystem
   public:
     Collector();
     void InitDefaultCommand();
-    void MoveArms(float);
+    void MoveArms(double);
     void MoveRollers(double);
     bool ArmSensor();
     bool BoxCollected();