From e26b7e825c50a072468a97af96b8ea1a163a00d0 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Wed, 11 Feb 2015 20:49:56 -0500
Subject: [PATCH] Updated binElevator

---
 Subsystems/BinElevator.cpp | 8 +-------
 Subsystems/BinElevator.h   | 2 --
 2 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/Subsystems/BinElevator.cpp b/Subsystems/BinElevator.cpp
index 119bfb8..daff79b 100644
--- a/Subsystems/BinElevator.cpp
+++ b/Subsystems/BinElevator.cpp
@@ -3,25 +3,19 @@
 BinElevator::BinElevator(){
   motor=new CANTalon(BINELEVATOR_CAN);
   elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA,BINELEVATOR_ENCODERB,false);
-  offset=0;
-  height=0;
   elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
   elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);
-  //SetAbsoluteTolerance(0.004);
 }
 void BinElevator::InitDefaultCommand(){
 }
 void BinElevator::Run(double power){
   motor->Set(power);
 }
-void BinElevator::SetOffset(double ht){
-  offset=ht;
-}
 void BinElevator::ResetEncoder(){
   elevatorEncoder->Reset();
 }
 double BinElevator::GetHeight(){
-  return elevatorEncoder->Get()+offset;
+  return elevatorEncoder->Get();
 }
 bool BinElevator::GetElevatorBottom(){
   return elevatorBottom->Get();
diff --git a/Subsystems/BinElevator.h b/Subsystems/BinElevator.h
index 5e9e72d..8814152 100644
--- a/Subsystems/BinElevator.h
+++ b/Subsystems/BinElevator.h
@@ -8,13 +8,11 @@ class BinElevator{
     CANTalon *motor;
     Encoder *elevatorEncoder;
     static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
-    double offset, height;
     DigitalInput *elevatorBottom, *elevatorTop;
   public:
     BinElevator();
     void InitDefaultCommand();
     void Run(double);
-    void SetOffset(double);
     void ResetEncoder();
     double GetHeight();
     bool GetElevatorTop();