stuff

1 files changed, 12 insertions, 18 deletions

diff --git a/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java b/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java
index 73073c2..aa3aeaf 100644
--- a/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java
+++ b/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java
@@ -6,33 +6,27 @@ import edu.wpi.first.wpilibj.PIDOutput;
 public class LimitSwitchedPIDOutput implements PIDOutput {
 	private final PIDOutput out;
 	private final DigitalInput forward;
-	private final DigitalInput backward;
-	private final boolean i_dont_know_which_way_is_which;
+	private final DigitalInput bakward;
+	private final boolean for_pressed;
+	private final boolean bak_pressed;
 	
-	public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, DigitalInput backward, boolean i_dont_know_which_way_is_which) {
+	public LimitSwitchedPIDOutput(PIDOutput out,
+			DigitalInput forward, boolean for_pressed,
+			DigitalInput backward, boolean back_pressed) {
 		this.out = out;
 		this.forward = forward;
-		this.backward = backward;
-		this.i_dont_know_which_way_is_which = i_dont_know_which_way_is_which;
+		this.bakward = backward;
+		this.for_pressed = for_pressed;
+		this.bak_pressed = back_pressed;
 	}
 	
 	public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, DigitalInput backward) {
-		this(out, forward,backward, false);
+		this(out, forward, true, backward, true);
 	}
 	
 	public void pidWrite(double v) {
-		if (i_dont_know_which_way_is_which) {
-			if (forward.get() || backward.get()) {
-				v = 0;
-			}
-		} else {
-			if (forward.get()) {
-				v = Math.min(v, 0);
-			}
-			if (backward.get()) {
-				v = Math.max(v, 0);
-			}
-		}
+		if (forward.get() == for_pressed) { v = Math.min(v, 0); }
+		if (bakward.get() == bak_pressed) { v = Math.max(v, 0); }
 		out.pidWrite(v);
 	}
 }