Correctly use DoubleSoleniod.

3 files changed, 14 insertions, 22 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2016/Control.java b/src/org/usfirst/frc/team4272/robot2016/Control.java
index 4baedd4..eae613e 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Control.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Control.java
@@ -7,7 +7,6 @@ public class Control {
 	       camTilt = 0,
 	       climber = 0;
 	boolean highGear = false,
-		PCM3 =true,
-		PCM4 = false;
+		gedOut = false;
 	public Control() {}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index 0f5375f..1fb47be 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -1,16 +1,14 @@
 package org.usfirst.frc.team4272.robot2016;
 
-import edu.wpi.first.wpilibj.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
 import edu.wpi.first.wpilibj.Talon;
-import edu.wpi.first.wpilibj.Jaguar;
-import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.networktables.NetworkTable;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
 import org.usfirst.frc.team4272.robotlib.PIDServo;
@@ -45,10 +43,9 @@ public class HwRobot {
 	public final Encoder   rDriveE = new Encoder(/*DIO*/2,/*DIO*/3, /*reverse*/true);
 	public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
 
-	public Solenoid PCM1 = new Solenoid(/*PCM*/ 4);
-	public Solenoid PCM2 = new Solenoid(5);
-	public Solenoid PCM3 = new Solenoid(6);
-	public Solenoid PCM4 = new Solenoid(7);
+	public DoubleSolenoid
+		shifter = new DoubleSolenoid(/*PCM*/4, /*PCM*/5),
+		ged     = new DoubleSolenoid(/*PCM*/6, /*PCM*/7);
 	
 	public HwRobot() {
 		lDriveE.setDistancePerPulse(10.0/*feet*/ / 1865.75/*pulses*/);
@@ -66,11 +63,8 @@ public class HwRobot {
 		camRotate.pidWrite(c.camRotate);
 		camTilt.pidWrite(c.camTilt);
 
-		PCM1.set(c.highGear);
-		PCM2.set(!c.highGear);
-
-		PCM3.set(c.PCM3);
-		PCM4.set(c.PCM4);
+		shifter.set(c.highGear ? DoubleSolenoid.Value.kReverse : DoubleSolenoid.Value.kForward);
+		ged.set(c.gedOut ? DoubleSolenoid.Value.kReverse : DoubleSolenoid.Value.kForward);
 
 		SmartDashboard.putNumber("lDriveE distance", lDriveE.getDistance());
 		SmartDashboard.putNumber("lDriveE rate", lDriveE.getRate());
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index 09151a8..05783e8 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -68,13 +68,12 @@ public class Teleop {
 			control.climber = 0;
 		}
 
-		if (oi.xbox.getAButton() == true) {
-			control.PCM3 = true;
-			control.PCM4 = false;
+		/* gear place */
+		if (oi.xbox.getAButton()) {
+			control.gedOut = true;
 		}
-		if(oi.xbox.getBButton()==true) {
-			control.PCM3 = false;
-			control.PCM4 =true;
+		if (oi.xbox.getBButton()) {
+			control.gedOut = false;
 		}