From c3e5b0cc5b96999f971ef9092adcb066099ffd83 Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Thu, 26 Feb 2015 12:45:35 +0000
Subject: [PATCH] Tuning autonomous

---
 Commands/Autonomous/Autonomous.cpp | 5 +++++
 Commands/Elevator/Lower.cpp        | 2 +-
 Commands/Elevator/Raise.cpp        | 2 +-
 RobotMap.h                         | 4 ++--
 4 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index e99d474..f12ace6 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -34,12 +34,17 @@ Autonomous::Autonomous(int seq){
       printf("Done");
       AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
       AddSequential(new CollectTote());
+      AddSequential(new Raise());
       AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
       AddSequential(new CollectTote());
+      AddSequential(new Lower());
+      AddSequential(new Raise());
       printf("Three totes?: %d\n",SmartDashboard::GetBoolean("Three totes"));
       if(SmartDashboard::GetBoolean("Three totes")){
         AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
         AddSequential(new CollectTote());
+        AddSequential(new Lower());
+        AddSequential(new Raise());
       }
       AddSequential(new Turn(90));
       AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75));
diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp
index 378156d..637a88b 100644
--- a/Commands/Elevator/Lower.cpp
+++ b/Commands/Elevator/Lower.cpp
@@ -4,7 +4,7 @@
 Lower::Lower() : Command("Lower"){
 }
 void Lower::Initialize(){
-  SetTimeout(2.5);
+  SetTimeout(3.0);
 }
 void Lower::Execute(){
   DentRobot::elevator->Run(-1.0);
diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp
index 817ed4d..ce42ab8 100644
--- a/Commands/Elevator/Raise.cpp
+++ b/Commands/Elevator/Raise.cpp
@@ -4,7 +4,7 @@
 Raise::Raise() : Command("Raise"){
 }
 void Raise::Initialize(){
-  SetTimeout(3.0);
+  SetTimeout(3.5);
 }
 void Raise::Execute(){
   DentRobot::elevator->Run(1.0);
diff --git a/RobotMap.h b/RobotMap.h
index bb163e7..d92e4f1 100644
--- a/RobotMap.h
+++ b/RobotMap.h
@@ -20,8 +20,8 @@
 #define BINELEVATOR_TOP_DIO 8
 #define BINELEVATOR_ENCODERA 10
 #define BINELEVATOR_ENCODERB 11
-#define BINELEVATOR_SOLDENOID_ONE   1
-#define BINELEVATOR_SOLDENOID_TWO   2
+#define BINELEVATOR_SOLDENOID_ONE   6
+#define BINELEVATOR_SOLDENOID_TWO   7
 
 // Drivetrain
 #define DRIVE_FRONT_LEFT_CAN 2