From 760a30a8a264319a2ed8b136f22baa7c2e2f0d66 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Sat, 31 Jan 2015 14:30:09 -0500
Subject: [PATCH] Continued development of elevator (not working)

---
 Commands/Calibrate.cpp  | 9 ++++++++-
 Subsystems/Elevator.cpp | 2 ++
 2 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/Commands/Calibrate.cpp b/Commands/Calibrate.cpp
index b0d1bdc..250ebab 100644
--- a/Commands/Calibrate.cpp
+++ b/Commands/Calibrate.cpp
@@ -1,14 +1,21 @@
 #include "Calibrate.h"
 #include "../DentRobot.h"
+// Lowers elevator until it hits the limit switch then sets the height of the elevator to the height of the limit switches
 Calibrate::Calibrate() : Command("Calibrate"){
 }
 void Calibrate::Initialize(){
 }
 void Calibrate::Execute(){
+  // Lower collector until End()
   DentRobot::elevator->Run(-0.4f);
 }
 bool Calibrate::IsFinished(){
-  return DentRobot::elevator->GetPotValue()>=0.1f;
+  if(DentRobot::DIO->Get()){
+    // 0.99 is a placeholder for the height of the limit switches
+    DentRobot::elevator->SetHeight(0.99);
+    return true;
+  }
+  return false;
 }
 void Calibrate::End(){
   DentRobot::elevator->Run(0.0f);
diff --git a/Subsystems/Elevator.cpp b/Subsystems/Elevator.cpp
index b2e28b7..76188c8 100644
--- a/Subsystems/Elevator.cpp
+++ b/Subsystems/Elevator.cpp
@@ -13,6 +13,8 @@ float Elevator::GetPotValue(){
   return pot->Get();
 }
 void Elevator::Run(double power){
+  // Height supposed to be the location of the elevator
+  //height+=power;
   leftMotor->Set(power);
   rightMotor->Set(power);
 }