From 6dbf8665a7816c4f04cdf32734b47ab454775cfb Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Thu, 27 Feb 2014 17:17:40 +0000
Subject: [PATCH] made code changes

---
 MyRobot.cpp | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/MyRobot.cpp b/MyRobot.cpp
index 60a9347..859e44a 100644
--- a/MyRobot.cpp
+++ b/MyRobot.cpp
@@ -1,7 +1,7 @@
 //Sonar code
 #include "WPILib.h"
 #include "SmartDashboard/SmartDashboard.h"
-//#include "Command.h"
+#include "Command.h"
 #include <iostream>
 #include <math.h>
 #include <vector>
@@ -128,8 +128,6 @@ public:
       upLimit = 167;
     }
   }
-  void calcRobot(){
-  }
   void shootRobot(float power=0, bool override=false) {
     override=true;
     //Needs a limit to help the driver aim
@@ -324,15 +322,17 @@ public:
         }
       } else {
         if(i<=initalDriveTime*200) {
+          //Drive initialDriveTime amount of time
           driveRobot(1.0f,0.0f);
-          //setMotorValue(6, 1, 1);
         } else if(i>shooterDelay&&i<shooterDelay+(shooterDuration*200)&&shooterMaxAngle>=potToDegrees(armPot.GetAverageVoltage())) {
-          driveRobot(0, 0);
-          shootRobot(1, true);
+          //Shooting
+          driveRobot(0.0f, 0.0f);
+          shootRobot(1.0f, true);
           setMotorValue(6, 1, 1);
         }
         if(i>480&&i<430+initalDriveTime){
-          driveRobot(-1,0);
+          driveRobot(-1.0f,0.0f);
+          setMotorValue(6, 1, 0);
           //TODO
         } else if(i>430+initalDriveTime/*&&ballLimit.Get()==1*/) {
           driveRobot(-0.6f,0.0f);
@@ -340,6 +340,7 @@ public:
           //TODO
         } else if(/*ballLimit.Get()==1&&*/i>430+initalDriveTime) {
           driveRobot(1.0f,0.0f);
+          setMotorValue(6, 1, 0);
         }
         if(i>480&&i<480){
           shootRobot(0.25f,true);