From b28fb4d93ece0222fa40ad8f4788d08c924fc59c Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Fri, 22 Aug 2014 13:13:08 -0600
Subject: [PATCH] Trying to get this to work on robot... Not working right now

---
 src/HHRobot.cpp               | 10 ++++------
 src/HHRobot.h                 |  5 -----
 src/Subsystems/Compressor.cpp |  7 ++++++-
 src/Subsystems/Shooter.cpp    |  3 +--
 4 files changed, 11 insertions(+), 14 deletions(-)

diff --git a/src/HHRobot.cpp b/src/HHRobot.cpp
index 12c41ec..1b54013 100644
--- a/src/HHRobot.cpp
+++ b/src/HHRobot.cpp
@@ -5,8 +5,7 @@ HHRobot::HHRobot():
   shooter(new HHShooter()),
   collector(new HHCollector()),
   compressorSystem(new HHCompressor()),
-  dashboard(new HHDashboard()),
-  sonar(new HHSonar()){
+  dashboard(new HHDashboard()){
   }
 bool HHRobot::CheckJoystickValues(){
   float x=ControlSystem->rightJoystickAxisValues[1];
@@ -14,16 +13,15 @@ bool HHRobot::CheckJoystickValues(){
   if((-.1 < x && x < .1) && (-.1 < y && y < .1)) {
     dashboard->PutBoolValue("Joysticks Valid", true);
     return true;
-  } else {
+  }else{
     dashboard->PutBoolValue("Joysticks Valid", false);
-    return true;
     return false;
   }
 }
 void HHRobot::DriveRobot(float x, float y){
-  if(y>1.0f) {
+  if(y>1.0f){
     y=1.0f;
-  } else if(y!=0.0f&&y<-1.0f) {
+  }else if(y!=0.0f&&y<-1.0f){
     y=-1.0f;
   }
   float leftPower=((y+x)/2+1)*127+1;
diff --git a/src/HHRobot.h b/src/HHRobot.h
index 27368dc..9f34261 100644
--- a/src/HHRobot.h
+++ b/src/HHRobot.h
@@ -8,22 +8,17 @@ class HHShooter;
 class HHCollector;
 class HHCompressor;
 class HHDashboard;
-class HHSonar;
 class HHRobot;
 class HHRobot{
   private:
     Jaguar *right1, *right2, *right3, *left1, *left2, *left3;
-    DigitalOutput *frontSonarLeftD, *frontSonarRightD, *rearSonarLeftD, *rearSonarRightD;
-    AnalogChannel *frontSonarLeftA, *frontSonarRightA, *rearSonarLeftA, *rearSonarRightA;
     JoystickController *ControlSystem;
     HHShooter *shooter;
     HHCollector *collector;
     HHCompressor *compressorSystem;
     HHDashboard *dashboard;
-    HHSonar *sonar;
   public:
     HHRobot();
-    float frontSonarLeftV, frontSonarRightV, rearSonarLeftV, rearSonarRightV;
     bool CheckJoystickValues();
     void DriveRobot(float,float);
     void UpdateDashboard();
diff --git a/src/Subsystems/Compressor.cpp b/src/Subsystems/Compressor.cpp
index 90509c7..39f6584 100644
--- a/src/Subsystems/Compressor.cpp
+++ b/src/Subsystems/Compressor.cpp
@@ -9,15 +9,20 @@ void HHCompressor::CompressorSystemPeriodic(){
     case EXTENDED:
       solenoid1->Set(false);
       solenoid2->Set(true);
+      e_CollectorSolenoidState = IDLE;
       break;
     case RETRACTED:
       solenoid1->Set(true);
       solenoid2->Set(false);
+      e_CollectorSolenoidState = IDLE;
+      break;
+    case IDLE:
+      e_CollectorSolenoidState = IDLE;
       break;
     default:
       break;
   }
-  e_CollectorSolenoidState=IDLE;
+  //e_CollectorSolenoidState=IDLE;
 }
 void HHCompressor::StartCompressing(){
   compressor->Start();
diff --git a/src/Subsystems/Shooter.cpp b/src/Subsystems/Shooter.cpp
index 9b6eb6c..263ce99 100644
--- a/src/Subsystems/Shooter.cpp
+++ b/src/Subsystems/Shooter.cpp
@@ -28,8 +28,7 @@ void HHShooter::Lower(float desiredAngle){
   if(GetAngle() >= desiredAngle){
     ShootRaw(-0.1f);
     e_ShooterState=LOWERING;
-  }
-  else{
+  }else{
     ShootRaw(0.0f);
     e_ShooterState=IDLE_PRESHOT;
   }