Teleop: Tidy, simplify.

1 files changed, 10 insertions, 12 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index 7398f10..625e29c 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -43,7 +43,7 @@ public class Teleop {
 	}
 	
 	public Control run(Control control, HwOI oi) {
-		/* Drive */
+		/* drive */
 		control.lDrive = -jsScale(oi.lStick);
 		control.rDrive = -jsScale(oi.rStick);
 
@@ -68,25 +68,22 @@ public class Teleop {
 		/* auto gear wiggle */
 		if (oi.rStick.getRawButton(2) || oi.lStick.getRawButton(2)) { 
 			currentTime = Timer.getMatchTime();
-			if(currentTime-lastTime > 0.15){
+			if (currentTime-lastTime > 0.15) {
 				state = !state;
 				lastTime = currentTime;
 			}
-			if (state){
+			if (state) {
 				control.lDrive = 0.5;
 				control.rDrive = 0;
-			}
-			else if(!state){
+			} else {
 				control.lDrive = 0;
 				control.rDrive = 0.5;
 			}
 		}
 
 		/* climber */
-		if(oi.xbox.getRawAxis(1) > 0.2){
-			control.climber = oi.xbox.getRawAxis(1);
-		} else if (oi.xbox.getRawAxis(1) < -0.2) {
-			control.climber = oi.xbox.getRawAxis(1);
+		if (Math.abs(oi.xbox.getY(Hand.kLeft)) > 0.2) {
+			control.climber = oi.xbox.getY(Hand.kLeft);
 		} else {
 			control.climber = 0;
 		}
@@ -100,12 +97,13 @@ public class Teleop {
 		}
 		
 		/* camera */
-		if(oi.xbox.getTriggerAxis(Hand.kRight) > 0)
+		if (oi.xbox.getTriggerAxis(Hand.kRight) > 0) {
 			control.camRotate = 1;
-		else if(oi.xbox.getTriggerAxis(Hand.kLeft) > 0)
+		} else if (oi.xbox.getTriggerAxis(Hand.kLeft) > 0) {
 			control.camRotate = -1;
-		else
+		} else {
 			control.camRotate = 0;
+		}
 		control.camTilt = oi.xbox.getX(Hand.kRight);
 
 		return control;