From 77bd25c69d7cb208901280991a662f86d2310b0d Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Thu, 22 Sep 2016 21:40:43 +0000
Subject: [PATCH] changed buttons and added half speed

---
 src/org/usfirst/frc/team2059/robot/OI.java             | 10 +++++-----
 .../robot/commands/autonomous/AutoSetArmPosition.java  |  2 +-
 .../frc/team2059/robot/commands/drivetrain/Drive.java  |  8 +++++++-
 .../frc/team2059/robot/subsystems/DriveBase.java       |  8 ++++----
 4 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java
index d875e9d..2fd1abf 100644
--- a/src/org/usfirst/frc/team2059/robot/OI.java
+++ b/src/org/usfirst/frc/team2059/robot/OI.java
@@ -34,18 +34,18 @@ public class OI {
     }
     // Print log when button 1 pressed
     //joystickButtons[0][0].whenPressed(new LogEncoder());
-    joystickButtons[0][0].whileHeld(new SpinRollers(1));
     joystickButtons[0][1].whileHeld(new SetShooterState(true));
+    joystickButtons[0][3].whileHeld(new SpinRollers(1));
 //    joystickButtons[0][2].whileHeld(new PIDDrive(400));
-    joystickButtons[1][0].whileHeld(new MoveArm(0.5));
-    joystickButtons[1][1].whileHeld(new MoveArm(-0.5));
+    joystickButtons[1][0].whileHeld(new MoveArm(1));
+    joystickButtons[1][1].whileHeld(new MoveArm(-1));
     joystickButtons[1][2].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCollect));
     joystickButtons[1][3].whileHeld(new SetArmPosition(RobotMap.mainArmPresetTraverse));
     joystickButtons[1][4].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCloseShot));
     joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetFarShot));
     joystickButtons[1][7].whileHeld(new SetArmStopState(true));
-    joystickButtons[1][10].whileHeld(new ResetLower(-1));
-    joystickButtons[1][11].whileHeld(new ResetUpper(1));
+//    joystickButtons[1][10].whileHeld(new ResetLower(-1));
+//    joystickButtons[1][11].whileHeld(new ResetUpper(1));
   }
   public Joystick[] getJoysticks() {
     return joysticks;
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoSetArmPosition.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoSetArmPosition.java
index 628bc79..315f4d4 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoSetArmPosition.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoSetArmPosition.java
@@ -26,7 +26,7 @@ public class AutoSetArmPosition extends CommandBase {
     // Stop when either limit switch is hit
     System.out.println("AutoSetArmPosition.isFinished(): " + (Math.abs(pos - mainArm.getDegrees()) <= 1));
     System.out.println("  pos                  : " + pos);
-    System.out.println("  mainArm.getDegrees() : " + mainArm.getDegrees())
+    System.out.println("  mainArm.getDegrees() : " + mainArm.getDegrees());
     return Math.abs(pos - mainArm.getDegrees()) <= 1;
   }
   // Called once after isFinished returns true
diff --git a/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
index e17f742..b95696d 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
@@ -5,6 +5,7 @@ import org.usfirst.frc.team2059.robot.Robot;
  *
  */
 public class Drive extends CommandBase {
+  double sensitivity = 0.5;
   public Drive() {
     requires(driveBase);
   }
@@ -16,7 +17,12 @@ public class Drive extends CommandBase {
     double x = Robot.oi.getJoysticks()[0].getRawAxis(0);
     double y = Robot.oi.getJoysticks()[0].getRawAxis(1);
     double z = Robot.oi.getJoysticks()[0].getRawAxis(2);
-    driveBase.driveArcade(x, y, z, 0);
+    if(Robot.oi.getJoysticks()[0].getRawButton(1)){
+      sensitivity = 1;
+    }else{
+      sensitivity = 0.5;
+    }
+    driveBase.driveArcade(x, y, z, sensitivity);
   }
   // Make this return true when this Command no longer needs to run execute()
   protected boolean isFinished() {
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
index 616ee83..b03775d 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
@@ -23,10 +23,10 @@ public class DriveBase extends Subsystem {
     rightMotorTwo.set(0);
   }
   public void driveArcade(double x, double y, double z, double sensitivity) {
-    leftMotorOne.set(-y + (x + z));
-    leftMotorTwo.set(-y + (x + z));
-    rightMotorOne.set(y + (x + z));
-    rightMotorTwo.set(y + (x + z));
+    leftMotorOne.set((-y + (x + z))*sensitivity);
+    leftMotorTwo.set((-y + (x + z))*sensitivity);
+    rightMotorOne.set((y + (x + z))*sensitivity);
+    rightMotorTwo.set((y + (x + z))*sensitivity);
   }
   public void pidDrive(double setpoint) {
     leftEncoder.reset();