Tidy up.

1 files changed, 10 insertions, 14 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2017/Teleop.java b/src/org/usfirst/frc/team4272/robot2017/Teleop.java
index bc09f8a..254c530 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Teleop.java
@@ -41,20 +41,19 @@ import org.usfirst.frc.team4272.robotlib.RollingAvg;
 
 public class Teleop {
 	private final HwRobot robot;
-	private final double armSoftStop = 95;//295;
+	private final PIDSource lRate, rRate;
+	private final Timer timer = new Timer();
+	private final Preferences prefs = Preferences.getInstance();
 
-	private final PushButton shootButton = new PushButton();
-	private final Timer time = new Timer();
 	private double lastTime;
 	private double currentTime;
 	private boolean state = false;
-	private PIDSource lRate, rRate;
-	private Preferences prefs = Preferences.getInstance();
 
 	public Teleop(HwRobot robot) {
 		this.robot = robot;
 		this.lRate = new RollingAvg(5, robot.lDriveE);
 		this.rRate = new RollingAvg(5, robot.rDriveE);
+		timer.start();
 	}
 
 	private static double jsScale(Joystick j) {
@@ -95,13 +94,11 @@ public class Teleop {
 		}
 
 		/* auto gear wiggle */
-		if (oi.rStick.getRawButton(2) || oi.lStick.getRawButton(2)) { 
-			currentTime = Timer.getMatchTime();
-			if (currentTime-lastTime > 0.15) {
-				state = !state;
-				lastTime = currentTime;
+		if (oi.rStick.getRawButton(2) || oi.lStick.getRawButton(2)) {
+			if (timer.get() > 0.30) {
+				timer.reset();
 			}
-			if (state) {
+			if (timer.get() < 0.15) {
 				control.lDrive = 0.5;
 				control.rDrive = 0;
 			} else {
@@ -111,9 +108,8 @@ public class Teleop {
 		}
 
 		/* climber */
-		if (Math.abs(oi.xbox.getY(Hand.kLeft)) > 0.2) {
-			control.climber = oi.xbox.getY(Hand.kLeft);
-		} else {
+		control.climber = oi.xbox.getY(Hand.kLeft);
+		if (control.climber <= 0.2) {
 			control.climber = 0;
 		}