From 28552a1bb8104f6ef0a8d9360fdb6562efc27578 Mon Sep 17 00:00:00 2001
From: Luke Shumaker <lukeshu@sbcglobal.net>
Date: Sun, 13 Mar 2016 09:14:47 -0400
Subject: saturday

---
 src/org/usfirst/frc/team4272/robot2016/Autonomous.java | 15 ++++++++++++++-
 src/org/usfirst/frc/team4272/robot2016/HwRobot.java    |  4 ++--
 src/org/usfirst/frc/team4272/robot2016/Teleop.java     |  4 ++--
 3 files changed, 18 insertions(+), 5 deletions(-)

diff --git a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
index 1d61448..756c33d 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
@@ -1,20 +1,33 @@
 package org.usfirst.frc.team4272.robot2016;
 
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
 public class Autonomous {
+	private final Timer time = new Timer();
 	private final HwRobot robot;
 
 	public Autonomous(HwRobot robot) {
 		this.robot = robot;
+		time.reset();
+		time.start();
 	}
 
 	public Control run(Control c) {
 		if (robot.armL.get()) {
-			c.arm = -0.2;
+			c.arm = -0.5;
 		} else {
 			c.arm = 0;
 			robot.armE.reset();
 		}
 
+		if (time.get() < 4) {
+			c.lDrive1 = c.rDrive1 = -0.4;
+		} else {
+			c.lDrive1 = c.rDrive1 = 0;
+		}
+		SmartDashboard.putNumber("autoTime", time.get());
+
 		return c;
 	}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index 7d63f86..71b13ed 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -33,7 +33,7 @@ public class HwRobot {
 	private final PIDOutput rDriveM1 = new Talon(/*PWM*/2), rDriveM2 = new Talon(/*PWM*/4);
 	private final PIDOutput armM    = new Talon(/*PWM*/8);
 	private final PIDOutput fBallM  = new PIDOutputSplitter(new Talon(/*PWM*/9), new Talon(/*PWM*/3));
-	private final PIDOutput bBallM  = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7));
+	private final PIDOutput bBallM  = new Talon(/*PWM*/6);
 
 	public final Encoder   armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2, true);
 	public final DigitalInput armL = new DigitalInput(/*DIO*/3);
@@ -52,7 +52,7 @@ public class HwRobot {
 		lDriveM2.pidWrite( c.lDrive2);
 		rDriveM1.pidWrite(-c.rDrive1);
 		rDriveM2.pidWrite(-c.rDrive2);
-		armM.pidWrite(c.arm);
+		armM.pidWrite(c.arm * 0.5);
 		fBallM.pidWrite(-c.fBall);
 		bBallM.pidWrite(-c.bBall);
 
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index 19dfc6e..56e2dc7 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -39,8 +39,8 @@ public class Teleop {
 		double bBall = bound(-1, fBall, 0) + oneIf(oi.xbox.getButton(Button.A)) - oneIf(oi.xbox.getButton(Button.B));
 
 		boolean ballL = robot.ballL.get();
-		control.fBall = bound(-oneIf(ballL), fBall, 1);
-		control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.75*bBall : bBall, 1);
+		control.fBall = bound(-oneIf(ballL), fBall < 0 ? 0.75*fBall : fBall, 1);
+		control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.85*bBall : bBall, 1);
 
 		/* I'm eyeballing 10 degrees ≈ 50 clicks */
 		if (robot.armE.pidGet() < 50 && !robot.armL.get()) {
-- 
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